【摘要】 针对倒立摆多输入多输出系统,由于复杂非线性,强耦合性而难以建立数学模型和难以控制的问题,提出一种PID参数模糊自整定的控制方法。利用MATLAB设计PID参数模糊自整定控制器,并进行仿真和实际应用。通过与常规PID控制方法相比较,可以看出PID参数模糊自整定的控制方法不需要建立精确的数学模型,还可以及时在线调整PID参数,获得更好的控制效果。更多还原

【Abstract】 It is difficult to model and control pendulum multi-input and multi-output system because of its complex nonlinearity and significant crosscoupling.A kind of PID parameter fuzzy self-adjusting control measure is proposed about this.The PID parameter fuzzy self-adjusting controller is designed with the help of MATLAB and used in simulation and practice.Compared with the general PID measure,it doesn’t depend on precise mathematics model and can adjust PID parameter itself on line in time.At the same time,it can achieve better control effect.更多还原