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《工业仪表与自动化装置》[ISSN:1000-0682/CN:61-1121/TH]

卷:

期数:

2017年06期

页码:

124-127

栏目:

出版日期:

2017-12-15

文章信息/Info

Title:

Stable control research of double inverted pendulum based on the fuzzy self-adaptive PID controller

作者:

窦立环

黑龙江科技大学 电气与控制工程学院，哈尔滨 150022

Author(s):

DOU Lihuan

School of Electric & Control Engineering, Heilongjiang University & Science and Technology, Harbin150022,China

关键词:

直线二级倒立摆; 模糊PID; 自适应; MATLAB/Simulink

Keywords:

linear double inverted pendulum;  fuzzy-PID;  self-adaption;  MATLAB/Simulink

分类号:

TP273

DOI:

1000-0682（2017）06-0124-03

文献标志码:

A

摘要:

直线二级倒立摆在运用传统PID控制时控制精度较差，建立了直线二级倒立摆系统的数学建模，将自适应模糊PID智能控制算法运用到二级倒立摆的稳定控制中，利用Matlab软件对传统PID控制与自适应模糊PID控制进行仿真研究。结果表明：采用自适应模糊PID控制得到的仿真图像在超调量与收敛速度效果均优于传统PID控制，说明自适应模糊PID控制效果良好。

Abstract:

The control precision of the linear two inverted pendulum in the application of the traditional PID control is poor.The mathematical model of linear two level inverted pendulum system is established. The fuzzy self-adaptive PID intelligent control algorithm is applied to the stability control of the two stage inverted pendulum. The simulation study of the traditional PID control and fuzzy self-adaptive PID control is carried out by using Matlab software. The results show that the effect of fuzzy self-adaptive PID control is better than the traditional PID control, and the fuzzy self-adaptive PID control is effective.

参考文献/References:

[1] 黎亮.倒立摆的模糊PID控制[J].价值工程,2012,26(4): 72-75. [2] 于怀博.最优控制在倒立摆系统中的应用研究[D].武汉: 华中科技大学, 2007. [3] 李劲松.自适应逆控制技术及其在倒立摆实验系统中的应用研究[D].上海:上海交通大学, 2005. [4] 武俊峰,王胜达.模糊控制在二级倒立摆系统中的应用[J]. 哈尔滨理工大学学报, 2013,15(6): 80-87. [5] Elbardini Mohammad,Elnagar AhmadM..Interval type-2 fuzzy PID controller for uncertain nonlinear inverted pendulum system[J]. ISA Transactions,2014,39(2): 41-748. [6] 刘金琨.先进PID控制及其MATLAB仿真[M].北京:电子工业出版社,2003. [7] 王亚刚,邵惠鹤.自整定PID控制器的研究综述[J].电气自动化, 2000,1(6): 23-27.

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备注/Memo

备注/Memo:

收稿日期：2017-03-27 作者简介：窦立环(1991)，男，黑龙江省齐齐哈尔市人，硕士研究生，研究方向:电力电子与电力传动。

常用功能

更新日期/Last Update: 2017-12-01