华侨大学学报（自然科学版）Issue(1)：74-78,5.DOI:10.11830/ISSN.1000-5013.2016.01.0074
采用自适应模糊 PID 的二阶倒立摆控制
Research on Double Inverted Pendulum Control Using Adaptive Fuzzy PID
摘要
Abstract
In this paper,a mathematical model of second-order inverted pendulumis built.The conventional proportional-integral-differential (PID)control and fuzzy controlare combined,and a fuzzy PID controlleris designed.The adaptive fuzzy tuning of PID parameters is obtained.Simulation results show the designed fuzzy PID controller can well realize the propped balance control of second-order inverted pendulum,the control effect is obviously better than the conventional PID controller,the overshoot and adjust time is small,and has a good anti-jamming capability.It is very suitable for the stability control of the model of second-order inverted pendulum.关键词
倒立摆/模糊控制/比例-积分-微分控制器/自适应/稳定控制Key words
inverted pendulum/fuzzy control/proportional-integral-differentia controller/adaptive/stability control分类
信息技术与安全科学引用本文复制引用
宋国杰..采用自适应模糊 PID 的二阶倒立摆控制[J].华侨大学学报（自然科学版）,2016,(1):74-78,5.基金项目
吉林省教育厅“十一五”科学技术研究项目 （）
