毕业论文倒立摆智能控制算法的讨论摘要倒立摆是典型的多变量、非线性、强耦合的自然不稳定系统。本设计选用单级旋转倒立摆，采纳模糊控制的智能算法进行倒立摆的稳定控制讨论。为了克服模糊控制中存在的不足之处，引入了线性二次最优控制和状态变量融合函技术。论文主要工作如下：采纳用拉格朗日方程建模法建立旋转式倒立摆系统数学模型，并对其线性化得到系统的状态方程。首先利用线性二次最优控制对倒立摆进行了稳定控制仿真讨论，求得最优状态反馈阵；为了解决控制中的“规则爆炸”问题，引入了融合技术。本文所使用的融合技术是根据线性二次最优控制原理，计算出倒立摆系统的状态反馈矩阵，生成转换状态向量的融合函数，采纳融合技术设计 “线性融合函数”将最优控制理论与模糊控制算法的结合起来设计模糊控制器。用 Matlab/Simulink 工具对旋转倒立摆模糊控制系统进行仿真讨论，最后结果证明：所设计的模糊控制器可以实现对倒立摆系统的稳定控制。关键词 单级旋转倒立摆；线性二次最优控制；状态融合函数；模糊控制AbstractInverted pendulum is a typical ， multi-variable. inverted pendulum non-liner ， Intelligent algorithm based on fuzzy control research on stability of Inverted Pendulum control. In order to overcome the deficiencies in the fuzzy control ， and introduces linear quadratic optimal control and status variables fusion technology. Main work of the thesis is as follows:The mathematical model of the inverted pendulum with Lagrange equation is deduced.First， by using linear quadratic optimal control Simulation Study on stability control of Inverted Pendulum， find the optimal State Feedback matrix ;The fusion techniques used in this article is based on the linear quadratic optimal control theory, to calculate the Inverted Pendulum System State Feedback matrix, the resulting conversion integration of the state vector functions.And then uses the fusion design " linear combination of functions " The combination of fuzzy control algorithm of optimal control theory and design of fuzzy...
