CAJ | 학술논문

在传统变论域模糊捧制系统中,论域随着输入的变化实时改变,论域的反复调整降低了控制的实时性,同时伸缩因子的函数结构和参数也不易确定.基于上述问题本文设计了基于改进型变论域算法的三级倒立摆模糊控制器:首先提出了相对变论域控制思想,然后采用模糊逻辑推理器构造了伸缩因子,实时调整输入变量,从而相对性地改变论域大小,避免了传统伸缩因子的函数结构和参数不易确定的问题,并根据系统闭环响应曲线设计了控制器输出调整因子.最后采用极点配置方法对状态变量进行综合,避免了规则爆炸问题.三级倒立摆的仿真结果表明了该方法具有较好的控制效果.
재전통변론역모호봉제계통중,론역수착수입적변화실시개변,론역적반복조정강저료공제적실시성,동시신축인자적함수결구화삼수야불역학정.기우상술문제본문설계료기우개진형변론역산법적삼급도립파모호공제기:수선제출료상대변론역공제사상,연후채용모호라집추리기구조료신축인자,실시조정수입변량,종이상대성지개변론역대소,피면료전통신축인자적함수결구화삼수불역학정적문제,병근거계통폐배향응곡선설계료공제기수출조정인자.최후채용겁점배치방법대상태변량진행종합,피면료규칙폭작문제.삼급도립파적방진결과표명료해방법구유교호적공제효과.
In traditional variable universe fuzzy control system, the universe changes with the values of input variables;this damages the response rapidity. What's more, it is difficulty to select the function models for the expansion-contraction factors and their parameters. To deal with the above problems, a fuzzy controller of triple inverted pendulum based on a new variable universe algorithm is designed. First, the idea of comparatively variable fuzzy control is presented. Second, the expansion-contraction factor is constructed based on the fuzzy logic inference rule list, and the output tuning factor is designed based on the closed-loop response curve. Finally, pole assignment method is employed to integrate the states into two variables to avoid the rules explosion problem. The simulation results show, compared with the traditional variable universe fuzzy control, the proposed controller improve the response speed and control precision of the inverted pendulum system.