研究基于動態查詢表的模糊控制策略及其在轉臂式倒立擺中的應用Z 采用一種新的倒立擺系統的控制方法, 將傳感器檢測的倒立擺的兩個角度信息傳送到控制器, 控制器利用該信息的模糊化量按基于動態查詢表的模糊控制策略進行實時計算, 由得出的控制量控制力矩電機驅使擺桿運動, 從而使擺臂處于動態的直立狀態Z 采用C+ + 語言實現了對倒立擺的控制Z 實驗結果表明, 這種控制方式能夠提高系統的控制精度Z
關鍵詞: 模糊控制; 動態查詢表; 轉臂式倒立擺; 非線性系統
Abstract: A fuzzy st rategy based on dynam ic query tab le and it s app licat ion on ro tary inverted pendu lum are studied. A new m ethod is u sed to con t ro l the system of inverted pendu lum. W ith th is m ethod, two angles of the inverted pendu lum exam ined by an angu lar sen so r are t ran sm it ted to a con t ro ller. In the con t ro ller, u sing the fuzzy values of the two angles to calcu late the real2 t im e based on the dynam ic query tab le, the ou tpu t is u sed to con t ro l the to rque mo to r w h ich drives the inverted pendu lum. A s a resu lt of th is the inverted pendu lum is kep t in dynam ic up2 righ t state. U sing the C+ + language, test s have show n that th is is an effect ive m ethod in the con t ro l of an inverted pendu lum system , and can imp rove the accu racy of ro tary inverted pendu2 lum system s.
Key words: fuzzy con t ro l; dynam ic query tab le; ro tary inverted pendu lum; non linear system