一种改进的三级倒立摆变论域模糊控制器设计

The design of improved variable universe fuzzy controller of triple inverted pendulum

中文关键词  倒立摆系统  变论域  模糊控制  伸缩因子  极点配置

英文关键词  inverted pendulum  variable universe  fuzzy control  expansion-contraction factor  pole assignment

中文摘要

      在传统变论域模糊控制系统中, 论域随着输入的变化实时改变, 论域的反复调整降低了控制的实时性, 同时伸缩因子的函数结构和参数也不易确定. 基于上述问题本文设计了基于改进型变论域算法的三级倒立摆模糊控制器: 首先提出了相对变论域控制思想, 然后采用模糊逻辑推理器构造了伸缩因子, 实时调整输入变量, 从而相对性地改变论域大小, 避免了传统伸缩因子的函数结构和参数不易确定的问题, 并根据系统闭环响应曲线设计了控制 器输出调整因子. 最后采用极点配置方法对状态变量进行综合, 避免了规则爆炸问题. 三级倒立摆的仿真结果表明了该方法具有较好的控制效果.

英文摘要

      In traditional variable universe fuzzy control system, the universe changes with the values of input variables; this damages the response rapidity. What’s more, it is difficulty to select the function models for the expansion-contraction factors and their parameters. To deal with the above problems, a fuzzy controller of triple inverted pendulum based on a new variable universe algorithm is designed. First, the idea of comparatively variable fuzzy control is presented. Second, the expansion-contraction factor is constructed based on the fuzzy logic inference rule list, and the output tuning factor is designed based on the closed-loop response curve. Finally, pole assignment method is employed to integrate the states into two variables to avoid the rules explosion problem. The simulation results show, compared with the traditional variable universe fuzzy control, the proposed controller improve the response speed and control precision of the inverted pendulum system.