Study on Adaptive Fuzzy Control Algorithm and Its Implementation
|School||Harbin Institute of Technology|
|Keywords||adaptive control fuzzy control fuzzy disturbance observer(FDO) motion control|
With modern science and technology developing rapidly and the scale of productional systems growing, the complex large systems are formed, which leads to the controller, control plant, control task and objectives getting increasingly complex. Traditional linear and non-linear control methods no longer suite to control this kind of systems. In order to solve the problem, the subject studies adaptive fuzzy control method combining the merit of fuzzy and adaptive control methods. One two-axis motion control card ARM-based is designed to implement the designing control method controlling the single inverted pendulum physical device.The subject studies the the basic principles of adaptive fuzzy control methods and classification depthly, and selects the type of the control method on studying. On this basis, the indirect and direct adaptive fuzzy control methods with H∞tracking performance are designed for the uncertain nonlinear SISO systems. The simulation experiments are designed to verify the performance of the two control methods. The results show that both the two control methods can attenuate the influence of fuzzy logic approximation error and external disturbance on the tracking error, and receive good dynamic tracking performance.The adaptive fuzzy control method based fuzzy disturberance observer is designed to control the single inverted pendulum system by analyzing its zero dynamics and some group contrastable experiments are designed to verify its performance. The results show this method not only implements balance control of inverted pendulum, but also effectively attenuates the internal uncertainty and external disturbace of system.The open, modular two-axis motion control card ARM-based is designed to consummate the platform of the single inverted pendulum, and some physical experiments ard designed to verify the performance of the adaptive fuzzy control method based FDO. The physical experiments’results show that the designed motion control card can meet the requirement of inverted pendulum physical platform, and this control method can implement the balance control of inverted pendulum, and it has good control performance and strong robustness.