倒立摆的应用分析控制方法研究
【摘要】:This thesis investigates two control methods for the stabilization of an inverted pendulum system, the Fuzzy and PID.it also addresses some of the potential benefits of using both controllers to control an inverted pendulum system. Considering which technique and control method is best for the control of pendulum angle and the cart's position. The Inverted pendulum (IP) represents a classical and challenging control problem; this report explores the use of these methods like the proportional Integral Derivative (PID), for controlling the linear systems of the inverted pendulum which requires the accurate mathematical model of the system of which during the control process the cascade PID method was used. And for the FUZZY logic controller which is an artificial Intelligence (AI), was used for the controlling of the non linear system. The stages of the development of a fuzzy logic controller using a four input Takagi-Sugeno fuzzy model were presented. This paper is to implement and optimize fuzzy logic control algorithms in order to balance the inverted pendulum. A general analysis has been carried out using the matlab simulink on these controllers and they have proven to stabilize the Inverted pendulum.after a critical assement it was discovered that each have a successful control edge over the other, the fuzzy logic give a more better response to the system based on the specific analysis, like the rise time, settling time, over shoot but yet they both possesses some similar qualities which are also very important in their application methods and theory.
|
|
|
|
1 |
;Mathematical modeling of elastic inverted pendulum control system[J];Journal of Control Theory and Applications;2004年03期 |
2 |
李洪兴
,苗志宏
,王家银;Variable universe adaptive fuzzy control on the quadruple inverted pendulum[J];Science in China(Series E:Technological Sciences);2002年02期 |
3 |
Huu Chan Thanh Nguyen;An-Wen Shen;;Using Adaptive Gain Scheduling LQR Method Control of Arm Driven Inverted Pendulum System Based on PIC18F4431[J];Journal of Harbin Institute of Technology;2013年04期 |
4 |
Chihiro Nakagawa;Kimihiko Nakano;Yoshihiro Suda;Yuki Hirayama;;Steering performance of an inverted pendulum vehicle with pedals as a personal mobility vehicle[J];Theoretical & Applied Mechanics Letters;2013年01期 |
5 |
Yongli ZHANG;Jiayin WANG;Hongxing LI;;STABILIZATION OF THE QUADRUPLE INVERTED PENDULUM BY VARIABLE UNIVERSE ADAPTIVE FUZZY CONTROLLER BASED ON VARIABLE GAIN H_∞ REGULATOR[J];Journal of Systems Science & Complexity;2012年05期 |
6 |
潘家楠;秦卫阳;邓王蒸;周红磊;;Harvesting base vibration energy by a piezoelectric inverted beam with pendulum[J];Chinese Physics B;2019年01期 |
7 |
胡建秋;毛丽民;卢振利;朱培逸;;旋转自由摆的控制方法研究[J];常熟理工学院学报;2017年02期 |
8 |
刘荔荔,刘艳娥,尤培龙,王卓,金山丛,高申;轻松袋泡剂的质量控制方法研究[J];药物分析杂志;1997年03期 |
9 |
Lal Bahadur Prasad;Barjeev Tyagi;Hari Om Gupta;;Optimal Control of Nonlinear Inverted Pendulum System Using PID Controller and LQR: Performance Analysis Without and With Disturbance Input[J];International Journal of Automation & Computing;2014年06期 |
10 |
聂屈洋;张方辉;;Enhancement of electron injection in inverted bottom-emitting organic light-emitting diodes using Al/LiF compound thin film[J];Optoelectronics Letters;2018年03期 |
11 |
付辉;郭新蕾;杨开林;王涛;郭永鑫;;Ice accumulation and thickness distribution before inverted siphon[J];Journal of Hydrodynamics;2017年01期 |
12 |
付辉;杨开林;郭新蕾;郭永鑫;王涛;;Safe operation of inverted siphon during ice period[J];Journal of Hydrodynamics;2015年02期 |
13 |
詹中群;王崇全;何朝荣;王治校;毛山;;Electrocardiographic differentiation between acute coronary syndrome and acute pulmonary embolism associated with inverted T waves in precordial leads[J];South China Journal of Cardiology;2010年04期 |
14 |
高家国,汪训明,谈家桢;INTERMOLECULAR RECOMBINATION OF PLASMID pBN119 IN E. coli STRAIN HB101[J];Chinese Science Bulletin;1989年18期 |
15 |
姜明富;;集群攻击的传感网络稳定控制方法研究[J];现代电子技术;2017年04期 |
16 |
于晶,王在峰,李栋;水污染源总量控制方法研究[J];环境科学研究;2005年04期 |
17 |
宋文青,赵友宝;工业企业产品价格的动态控制方法研究[J];中国煤炭经济学院学报;1998年03期 |
18 |
XU Liang Tao;ZHANG Yi Jun;LIU Heng Yi;ZHENG Dong;WANG Fei;;The role of dynamic transport in the formation of the inverted charge structure in a simulated hailstorm[J];Science China(Earth Sciences);2016年07期 |
|