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《中国工程科学》 >> 1999年 第1卷 第2期

三级倒立摆的云控制方法及动平衡模式

北京电子系统工程研究所,北京 100039

资助项目 :国家自然科学基金资助项目(69775016) 收稿日期: 1999-07-12 修回日期: 1999-08-05 发布日期: 1999-08-20

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摘要

文章提出了定性和定量之间转换的云模型的形式化表示方法,用来反映语言值中蕴涵的模糊性和随机性,给出云发生器的生成算法,解释多条定性推理规则同时被激活时的不确定性推理机制。利用这种智能控制方法有效地实现了单电机控制的一、二、三级倒立摆的多种不同动平衡姿态,显示其鲁棒性,并给出了详细试验结果。研究成果不仅可用于对太空飞行器以及机器人控制,而且对揭示定性定量转换规律和策略具有普遍意义。

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