The Research On Fuzzy Simulated Intelligent Control And The Application In Inverted Pendulum System

The human-simulated intelligent control (HSIC)technology has formed a relatively complete theoretical system and a more systematic design method on account of its multi-mode control and combination of closed-open loop control,it already becomes a relative independence research branch. In the recent years,with the application of many control theories such as PID control,genetic control,NN control etc.to the design about HSIC system,the theory of HSIC has also developed rapidly.Based on the systematic analysis of HSIC theory and fuzzy logic control (FLC) theory, this paper propose a new kind of fuzzy simulated intelligent control (FSIC) method which combines many years of the research results of HSIC and FLC.Be established in the cross amalgamation research of HSIC and FLC,the new control method apply FLC to the devise of HSIC system and make full use of the advantages of two control methods designed to optimize the controller. At the same time, it can not only effectively solve the contradiction in a control system between stability, accuracy and rapidity, but also make the system has good resistance to random interference.To verify the effectiveness of HSIC,it is applied to the self-swing-up and handstand stabilization control of single-inverted pendulum and double-inverted pendulum systems which are classic problem in control field.Under the direction thought of'human-simulated','human-machine combination'and'quality-quantity combination',the paper firstly built the procedure about self-swing-up and handstand stabilization of inverted pendulum system as the decomposition of complex tasks,the building of objects'model based on characteristics,the realization of multiple control targets composed by the intelligent elements and other steps.The method of design and implement of various stages are analyzed in detail in this paper and a comprehensive FSIC method about inverted pendulum system is builted.To avoid the unwanted disturb in switching process between FSIC and FLC,a idea of'smooth switch'which is easy to simulate the process of human intelligent further on is introduced.After satisfy the conditions, HSIC automatically switches to FLC,and there is a fuzzy controller to achieve the stability of inverted pendulum system.By building nonlinear model of single-inverted pendulum,double-inverted system and establishing two fuzzy simulated intelligent controller in response to these two systems in the simulation software of Matlab/Simulink to establish two general simulation system diagram and checkout control effect.Simulation results show that this FSIC method is effective. It has realized self-swing-up and handstand stabilization of inverted pendulum system, the pendulum move to the equilibrium position not only fast, stable and accurate, but also inhibited the phenomenon of dramatic changes in the angle caused by interference in the moment of switching the controller. Hereby, the analysis validity in theory and the effectiveness of design theory are further demonstrated, the universal significance of FSIC is improved, and pioneer wide foreground for the realization and real application of human intelligences in complex control difficult-controlled objects.