柔性倒立摆的自适应模糊控制.doc

摘 要摘 要倒立摆系统是一个高阶、非线性、强耦合的绝对不稳定系统，它是检验各种控制理论与方法的有效工具研究倒立摆的精确控制对工业生产中复杂对象的控制有着重要的价值，因此倒立摆仿真或实物控制实验是控制领域中用来检验某种控制理论或方法的典型方案本文以直线一级柔性倒立摆为研究对象，首先基于拉格朗日方程建立了系统的数学模型，并对其性能进行分析为了实现对单级柔性倒立摆非线性不稳定系统的稳定控制，本文采用 Sugeno 模糊模型将其处理成多个局部线性模型的模糊逼近，并进行了模糊自适应控制器的设计通过 Simulink 对倒立摆系统进行了系统控制效果的分析，结果表明：此模型实现了对单级柔性倒立摆的稳定控制，并且具有结构简单、稳定性和快速性等优点本文的研究结论对于其它非线性不稳定系统的控制供了参考途径关键词：柔性倒立摆 自适应模糊控制 Sugeno 模型 Simulink 仿真 拉格朗日方程ABSTRACTABSTRACTThe Inverted pendulum system is a higher-order, nonlinear, strongly coupled and absolutely instable system. It is an effective tool for validating control theories and methods. Research on precise control of the inverted pendulum has great value for control problems of complicated plant in industrial process, as a result, the inverted pendulum simulation and physical experiments are representative project for verifying a certain control theory or approach in the fields of control science and technology.The paper takes the linear 1-stage flexible-joint inverted pendulum as a research object. At first, it establishes the model of the inverted pendulum system based on the Lagrange equation and analyzes its performance. A fuzzy controller is established to carry out the stabilizing control for non-linear unsteady system of single flexible invert pendulum and the adaptive fuzzy controller is designed to certificate meantime, which based on the Sugeno fuzzy control model. Simulation and analysis are carried out to investigate the system control effects by means of Simulink model. The results showed it had realized the stabilizing control successfully and simple construction, stability and fast-speed behavior advantaged characters. Further more, the result supplies an effective reference ways to control other non-linear unstable systems.Keyword: flexible-joint inverted pendulum Adaptive fuzzy control Sugeno fuzzy control model Simulink Simulation Lagrange equation目录目 录第一章 绪论 ............................................................................................................11.1 研究背景和意义 ...............................................................................................11.2 倒立摆控制在国内外研究动态 .......................................................................21.2.1 倒立摆的特性 ........................................................................................31.2.2 倒立摆的控制方法 .................................................................................41.3 本文主要做的工作 ..........................................................................................6第二章 柔性倒立摆的建模 ..........................................................................................72.1 引言 ..................................................................................................................72.2 柔性倒立摆的简单描述 ...................................................................................72.3 单级柔性倒立摆的建模 ...................................................................................72.3.1 系统线性化及状态空间模型 ...............................................................102.3.2 系统的一些物理参数 ...........................................................................112.3.4 系统可控性分析 ...................................................................................132.4 小结 .................................................................................................................15第三章 自适应模糊控制器 ......................................................................................173.1 模糊控制理论 ................................................................................................173.2 自适应模糊控制器的工作原理 ....................................................................183.3 Sugeno 模型推理 ............................................................................................193.4 Sugeno 模型设计流程 ...................................................................................203.4.1 模糊推理系统编辑器（Fuzzy） ........................................................203.4.2 隶属度函数编辑器(Mfedit) ...............................................................213.4.3 用命令行函数实现模糊逻辑系统 .......................................................223.5 小结 ................................................................................................................23第四章 柔性倒立摆的自适应模糊控制 ....................................................................254.1 引言 .................................................................................................................254.2 自适应模糊控制器的设计 ............................................................................254.2.1 输入输出变量的确定 ..........................................................................254.2.2 模糊规则库 ..........................................................................................27目录4.2.3 参数确定 ...............................................................................................284.3 控制模型仿真 .................................................................................................284.3.1 仿真结果 ...........。