CAJ | 학술논문

为解决倒立摆采用常规模糊控制算法，其推理规则数目随输入变量成指数增长的问题，对直线一级倒立摆设计了基于SIRM s和动态连接权重模型的模糊控制器，该控制器将倒立摆的四输入变量的模糊控制化成单维模糊控制问题来解决，大大减少了模糊规则数。仿真结果表明，该控制算法能够较好地完成倒立摆的运动控制，具有很强的鲁棒性和动静态特性。
위해결도립파채용상규모호공제산법，기추리규칙수목수수입변량성지수증장적문제，대직선일급도립파설계료기우SIRM s화동태련접권중모형적모호공제기，해공제기장도립파적사수입변량적모호공제화성단유모호공제문제래해결，대대감소료모호규칙수。방진결과표명，해공제산법능구교호지완성도립파적운동공제，구유흔강적로봉성화동정태특성。
To solve the problem that the number of inference rules increases exponentially with the input variables in the classic fuzzy control algorithm for the inverted pendulum ,a fuzzy controller is designed for the linear-primary inverted pendulum ,based on SIRMs and linear weighting models .The four input variables of the fuzzy controller are simplified to the one-dimensional one ,so the number of fuzzy rules are reduced greatly .Simulation result indicates that the fuzzy control algorithm can meet the needs of the motion control of inverted pendulum ,and is with strong robustness and dynamic-static performances .