基于云模型理論的一階直線倒立擺控制技術研究.pdf

1、哈爾濱工業(yè)大學碩士學位論文基于云模型理論的一階直線倒立擺控制技術研究姓名：姜春瑞申請學位級別：碩士專業(yè)：電力電子與電力傳動指導教師：張曉華20050601AbstractAsexperimentequipment，theinvertedpendulumplaysanimportantroleinteachingandscientificresearchBecauseofitscharacteristics，suchasnonlinear

2、stronglycoupling，multivariableandabsoluteinstabilitytheinvertedpendulumisanidealmodeltocheckoutvariouscontroltheoriesandmethodsMeanwhile，itisaprominentproblem，whichhasbeendiscussedforalongtimeinandabroadThecontrolofinver

3、tedpendulumisaclassictopicincontroltheoryandthestudiesonvariouscontroltheoriesandmethodshavesuppliedfreshbloodwhichacceleratesthedevelopmentofinvertedpendulumcontr01Wegetthedynamicmodelofsystem、ⅣitllLagrangeEquationbased

4、onthephysicsmodelofsimpleinvertedpendnlumAccordingtobepractical，wesimpli母themodalWemakesomesimulationwhilechangingthefrictionandtheforceappliedontheinvertedpendulumThemsMtisthatthemodelisvalidatedThependulumangledetectio

5、ncircuitandmotorencodercounteraredesignedtomakeitenoughfortherealizationoftheinvertedpendulumcontrolbasedonIPCInthispaperwediscusstheCloudModeltheorywhichisoneofthehottesttheoriesinhumanimitatingintelligentcontr01Wegivet

6、hesimulationfigureaccordingtokindsofmodelgenerators，whichmakesiteasytounderstandtheCloudModeltheoryBasedonCloudModeltheory，theanglecontrollerandthedoubleclosedcontrollerusedtocontrolboththeangleandpositionaregivenBychang

7、ingtheparametersoftheinvertedpendulumandthemembershipcloudsinpendulumcontroller，itCanbeseenthatthecloudcontrollerresponsesquicklyandhasstrongrobustnessComparingthedouble—closedcontrollerbasedoncloudmodalwiththedoubleclos

8、edcontrollerbasedonthefuzzycontrol，wecanseetllatcloudcontrollerhaspowerfulrobustnesstothependulum’Smass，length，initialpendulumangle，andalsothedesignofthemembershipcloudyparameterisquantitativeInthispaper，westudytheapplic