CAJ | 학술논문

为了解决高阶次、多变量、非线性、强耦合的直线二级倒立摆的稳定控制问题，设计了一种参数自校正模糊 PI 控制器算法。结合线性二次型最优调节器( LQR )方法，设计了融合函数，降低了模糊控制器的维数、减少了控制器规则数、实现了参数在线自校正，进而提高了控制器的性能。借助固高科技倒立摆硬件平台，采用 MATLAB 仿真及实时控制，系统均能在较短时间内达到稳定，且控制效果较好，满足了稳定性和鲁棒性要求。
위료해결고계차、다변량、비선성、강우합적직선이급도립파적은정공제문제，설계료일충삼수자교정모호 PI 공제기산법。결합선성이차형최우조절기( LQR )방법，설계료융합함수，강저료모호공제기적유수、감소료공제기규칙수、실현료삼수재선자교정，진이제고료공제기적성능。차조고고과기도립파경건평태，채용 MATLAB 방진급실시공제，계통균능재교단시간내체도은정，차공제효과교호，만족료은정성화로봉성요구。
To solve the stability control problem of double inverted pendulum of higher order , multivariable , nonlinear and strong coupling , designed an algorithm of parameter self-tuning fuzzy PI controller . Combined with linear quadratic regulator ( LQR ) method to design fusion function , reducing the dimension of the fuzzy controller and the number of rules of controller and achieve the parameters online self-tuning , thus improve the performance of the controller . Finally , with the help of hardware platform of Googoltech , using MATLAB simulation and real-time control , the system could achieve stability in a relatively short time , better the control effect , to meet the requirement of the stability and robustness .