CAJ | 학술논문

针对自平衡机械系统的研究很少着眼于速度控制,设计一种简单的模糊控制器,应用于一级直线倒立摆的匀速行走控制中.对于设定的速度整定值,通过调整几个比例环节的系数,系统具有很好的动态性能指标,而且控制器在有外界扰动时体现了很好的抗扰能力.考虑到实际物理系统中倒立摆行程的限制,设计的自动切换开关实现了倒立摆在一段给定的行程上匀速来回行走的控制目标,通过手动切换开关也能实现倒立摆的位置控制,因而使得该模糊控制器能完成平衡控制、位置控制、匀速行走控制.经多次试验,给出了比例环节系数大小调整与系统动态性能指标之间关系的大致规律,实验结果验证了该控制器的有效性.
침대자평형궤계계통적연구흔소착안우속도공제,설계일충간단적모호공제기,응용우일급직선도립파적균속행주공제중.대우설정적속도정정치,통과조정궤개비례배절적계수,계통구유흔호적동태성능지표,이차공제기재유외계우동시체현료흔호적항우능력.고필도실제물리계통중도립파행정적한제,설계적자동절환개관실현료도립파재일단급정적행정상균속래회행주적공제목표,통과수동절환개관야능실현도립파적위치공제,인이사득해모호공제기능완성평형공제、위치공제、균속행주공제.경다차시험,급출료비례배절계수대소조정여계통동태성능지표지간관계적대치규률,실험결과험증료해공제기적유효성.
Currently most researchers of the serf-balancing mechanical system is discussed.A simple fuzzy controller is designed to achieve uniform-velocity walking of the hnear one-stage inverted pendulum.Given the preset value of its velocity,the inverted pendulum shows a good dynamic performance by varying several gain parameters,and its robustness behaves also well.Due to the trajectory limitation of the real inverted pendulum system,an automatic switch and a manual switch are desiqned,which realize the three tasks:angle control,position control and uniform-velocity-walking control.The correlation between the gain parameters and the system dynamic performance is also given.The experiment result shows the effectiveness of the controller.