摘要倒立摆系统对控制理论研究有着重要的意义。本设计以直线倒立摆系统为研究对象，实现其起摆、稳摆控制。主要工作如下：

（1）对一级、二级倒立摆系统进行建模，并证明系统开环不稳定但在平衡点处可控。64515

（2）采用能量控制实现一级倒立摆的自起摆，结合LQR方法实现起摆控制与稳摆控制的切换。

（3）设计了基于融合函数的模糊控制器，解决了模糊规则爆炸问题。设计了常规自适应模糊控制器，又提出了一种基于模糊调节器的自适应策略。两种自适应方法相比较，基于模糊调节器的自适应方法控制效果更优。

（4）设计了一种基于RBF网络识别的摩擦补偿方案，减少了小车位置的振荡。

（5）对各控制方案进行仿真与实际实验，分析比较其控制性能。

毕业论文关键词  倒立摆  自起摆  模糊控制  RBF

毕业设计说明书（论文）外文摘要

Title   Fuzzy Control and Friction Compensation   of Inverted Pendulum System                                                 

Abstract Inverted pendulum system is of great significance to research on control theory and it is commonly used in control experiments. Linear inverted pendulum is investigated to realize it's control of swing-up and stability in this paper. The main work includes:

（1）Nonlinear mathematic model of linear inverted pendulum system is built and it is proved that the open-loop control system is instability. But it is controllable on equilibrium point.

（2）The method of energy feedback is used to realize swing-up of single inverted pendulum system. With the LQR method, a switching strategy is proposed.

（3）A fusion function is used to design fuzzy controller and the problem of fuzzy rules explosion is solved. The conventional adaptive fuzzy controller is designed. And an adaptive strategy based on fuzzy regulator is proposed. The latter possesses better control performance.

（4）Friction identification along with compensation scheme based on RBF is proposed to eliminate the small oscillation of the position of the car.

（5）Simulations and experiments are accomplished. At last, comparison and analysis of the performance of the controller are given.

Keywords  inverted  pendulum  swing up fuzzy control  RBF  

1  绪论 1

1．1  倒立摆系统的研究意义 1

1．2  倒立摆系统的控制方法及现状 1

1.2.1  线性控制 1

1.2.2  模糊控制 2

1.2.3  神经网络控制 2

1.2.4  遗传算法寻优 2

1.2.5  鲁棒控制 3

1．3  本文研究的主要内容 3

2  直线倒立摆系统及建模 4

2．1  倒立摆实验系统 4

2.1.1  倒立摆实验系统组成 4

2.1.2  直线倒立摆系统工作原理 5

2．2  直线一级倒立摆系统及建模 5

2.2.1  直线一级倒立摆系统简述 5

2.2.2  直线一级倒立摆模型