A Linear Inverted Pendulum Fuzzy Control Method

Inverted pendulum system is nonlinear, multivariable and changeable, stable system, is a typical nonlinear controlled object. Inverted pendulum system is used to test the effect of the control strategy, is to control the theoretical study of the test means more ideal.Fuzzy control belongs to the intelligent control category, in a process control field plays an important role. This article in view of the fuzzy control in inverted pendulum system application of existing fuzzy rules explosion, scaling factor and quantification factors parameters are not automatically adjust the problem for research.According to Newton's-the euler method to establish the mathematical model of the inverted pendulum, aiming at level1line of inverted pendulum of multivariable nonlinear characteristics, in the study of the method of fuzzy control based on the variables of the design method of fuzzy control group, based on the integration of the method of fuzzy control function, fuzzy and pd union, t-s fuzzy control four kind of improved fuzzy control method of inverted pendulum is the position and Angle control system to control and simulation. According to the proportion of the fuzzy controller factor and quantification factors parameters are not to be automatic adjustment problems, introduce a s function, through to the whole system commissioning, the simulation experiment many times del, determine the optimal parameters in experiments, given based on the parameters of the function it fusion self-tuning fuzzy controller; In the inverted pendulum more variable characteristics, design two loop fuzzy controller, and into the PD algorithm, the parameters from setting; According to conventional fuzzy controller used in the input inverted pendulum, will make the rules statements significantly increased the number of problems, establish the t-s fuzzy reasoning mechanism.In the MATLAB environment using simulink modules built inverted pendulum system simulation model, and in inverted pendulum device real-time control of the suggested each scheme to the test and experimental results prove the suggested solutions is effective.