【摘要】 对旋转型垂直式倒立摆系统的机械结构及控制系统进行了研究,提出了基于最优控制的T-S模型模糊控制方案,即采用最优控制理论对此模型实现分段控制作为底层控制和基于T-S模型的模糊控制相协调的上层控制,来实现倒立摆系统的稳定控制。采用MATLAB/Simulink对该方法进行仿真,结果验证了基于T-S模型的模糊控制理论对旋转型倒立摆系统控制的有效性。更多还原

【Abstract】 The mechanical structure and control of a rotary bi-point inverted pendulum system is studied,and we put forward a T-S model fuzzy control method.That is,The subsection control for the model based on the optimal theory is taken as the bottom control,while the T-S model fuzzy control as upper control.Both the upper and bottom are used for the stability control of the rotary bi-point inverted pendulum system.The MATLAB/Simulink simulation results show that the method for the pendulum system is effective.更多还原