【摘要】 阐述了基于二级倒立摆的两种模糊控制方法,即模糊逻辑控制方法和分层模糊控制方法.模糊逻辑控制方法是将二级倒立摆系统的6个状态变量加权变化为两个参变量,再用模糊控制器实现稳定控制.而分层模糊控制是将状态变量分解为子系统,设计下层模糊控制器对其控制,上层模糊控制器负责整个系统的协调和管理,实现稳定控制.实验结果表明:分层模糊控制较模糊逻辑控制具有更好的控制效果.更多还原

【Abstract】 Two methods of controlling a double inverted pendulum are presented: fuzzy logic control and hierarchical fuzzy control. In fuzzy logic control six state-space parameters are changed into two ones, while in hierarchical fuzzy control the double inverted pendulum is decomposed into subsystem. Fuzzy logic controllers are designed for each subsystem at the lower lever. At the higher lever a fuzzy logic controller is built up to supervise the complete system. The simulation results demonstrate the advantages of the hierarchical control.更多还原