| Cube system is multivariable, nonlinear, strong-coupling and naturally instable. Only by very effective control methods can balance the cube. My paper is to study the control method and control technology of the cube system.The mathematical model of the cube is presented. Then, its controllability and observability are analysed. LQR theory is used to control the cube. The results of the simulation and real-time control show the validation of the proposed method. Because one of the state variables can't be measured, an reduced-order observer is designed. Then, fuzzy control algorithm of the cube system is discussed. The dimension of input varieties of fuzzy controller is depressed by LQR theory, and it can reduce the rules of fuzzy controller sharply. Rule Explosion problem is solved. By introducing integral control, an intelligent integral fuzzy controller based on Sugeno fuzzy inference is designed. The simulation model of the cube system has been set up using Matlab/Simulink. Fuzzy control of hardware cube system also has been realized by the combination of Matiab and Wincon which is a real-time software developed by Quanser company. Moreover, the paper presents the response curves of each state variable and the curve of control quantity when the pendulum is stable or being disturbed. At last, the two control methods, which are LQR theory and fuzzy control, are compared according to the response curves. The success of simulation and hardware control proved that the cube system with fuzzy control is stable, robust and adaptive in a way. |
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