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研究了二级倒立摆系统的模糊控制问题 ,提出了一种结构新颖的模糊控制律。通过对控制律的参数寻优和调整 ,实现了二级倒立摆的稳定控制。仿真研究表明 :本文提出的模糊控制算法无论是动态指标还是稳态精度方面都有明显的优越性。
The fuzzy control problem of two-stage inverted pendulum system is studied, and a novel fuzzy control law is proposed. Through the optimization and adjustment of the parameters of the control law, the stable control of the two-stage inverted pendulum is realized. The simulation results show that the proposed fuzzy control algorithm has obvious superiority both in dynamic index and steady-state accuracy.