• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文会议>Chinese Control Conference >Cloud-model PID control of double inverted pendulum based on information fusion
【24h】

Cloud-model PID control of double inverted pendulum based on information fusion

机译：基于信息融合的双倒立摆云模型PID控制

获取原文
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

Aimed at the characteristics of nonlinear, strong coupling, multi-variable and natural unstable for inverted pendulum, based on information fusion technology, the state feedback gain matrix with quadratic optimal performance index is adopted as fusion function to reduce dimension of the outputs vector for double inverted pendulum, and decrease the difficulty of controller design. On this basis, a cloud model based PID controller is designed by combining clouds model with conventional PID and applied to the stabilization control of double inverted pendulum, the cloud inference mode is used to adjust PID control parameters adaptively. The simulation results show that the control method has excellent dynamic performance and strong robustness, and reflect the superiority of the cloud model as an uncertain conversion between qualitative concept and quantitative description in dealing with uncertainty problems.
机译：针对倒立摆的非线性，强耦合，多变量和自然不稳定的特点，基于信息融合技术，采用具有二次最优性能指标的状态反馈增益矩阵作为融合函数，以减小输出向量的维数。倒立摆，降低了控制器设计的难度。在此基础上，将云模型与常规PID相结合，设计了一种基于云模型的PID控制器，并将其应用于双倒立摆的稳定控制，采用云推理模式自适应地调整PID控制参数。仿真结果表明，该控制方法具有良好的动态性能和较强的鲁棒性，体现了云模型作为定性概念和定量描述之间不确定性转换在处理不确定性问题方面的优越性。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号