基于matlab的倒立擺模糊控制_課程設(shè)計(jì)報(bào)告(存儲(chǔ)版)
【正文】 9。gbellmf39。in2mf239。gbellmf39。in4mf139。out39。constant39。constant39。constant39。constant39。constant39。constant39。constant39。constant39。圖 所示不同時(shí)刻小車和擺桿的運(yùn)動(dòng)軌跡圖。 倒立擺的控制問題就是使擺桿盡快地達(dá)到一個(gè)平衡位置，并且使之沒有大的 振蕩和過大的角度和速度。為了使桿子擺動(dòng)或者達(dá)到豎直向上的穩(wěn)定，需要給小車一個(gè)控制力，使其在軌道上被往前或朝后拉動(dòng)。 從以上的 圖 可知，綠色的三角形為小車位置的期望，紅色的方塊為小車的實(shí)際位置，黃色的粗斜線為擺桿實(shí)際位置。mf1639。mf1439。mf1239。mf1039。mf839。mf639。mf439。mf239。gbellmf39。in439。in3mf139。gbellmf39。in1mf239。wtaver39。prod39。 圖 模糊推理規(guī)則通過 view 直觀顯示圖 基于 MATLAB 的倒立擺模糊控制 caymi 第 15 頁 共 24 頁 此外，在建立起具體的模糊推理規(guī)則以后，可以通過 view 功能來得到規(guī)則的直觀顯示，這些圖形可以幫助更好的理解建立的模糊推理規(guī)則。 然后，列出每種輸入所對(duì)應(yīng)的輸出量的模糊規(guī)則，共計(jì)設(shè)置了16 條規(guī)則： ? 1. If (in1 is in1mf1) and (in2 is in2mf1) and (in3 is in3mf1) and (in4 is in4mf1) then (out is mf1) (1) ? 2. If (in1 is in1mf1) and (in2 is in2mf1) and (in3 is in3mf1) and (in4 is in4mf2) then (out is mf2) (1) ? 3. If (in1 is in1mf1) and (in2 is in2mf1) and (in3 is in3mf2) and (in4 is in4mf1) then (out is mf3) (1) ? 4. If (in1 is in1mf1) and (in2 is in2mf1) and (in3 is in3mf2) and (in4 is in4mf2) then (out is mf4) (1) ? 5. If (in1 is in1mf1) and (in2 is in2mf2) and (in3 is in3mf1) and (in4 is in4mf1) then (out is mf5) (1) ? 6. If (in1 is in1mf1) and (in2 is in2mf2) and (in3 is in3mf1) and (in4 is in4mf2) then (out is mf6) (1) ? 7. If (in1 is in1mf1) and (in2 is in2mf2) and (in3 is in3mf2) and (in4 is in4mf1) then (out is mf7) (1) ? 8. If (in1 is in1mf1) and (in2 is in2mf2) and (in3 is in3mf2) and 基于 MATLAB 的倒立擺模糊控制 caymi 第 12 頁 共 24 頁 (in4 is in4mf2) then (out is mf8) (1) ? 9. If (in1 is in1mf2) and (in2 is in2mf1) and (in3 is in3mf1) and (in4 is in4mf1) then (out is mf9) (1) ? 10. If (in1 is in1mf2) and (in2 is in2mf1) and (in3 is in3mf1) and (in4 is in4mf2) then (out is mf10) (1) ? 11. If (in1 is in1mf2) and (in2 is in2mf1) and (in3 is in3mf2) and (in4 is in4mf1) then (out is mf11) (1) ? 12. If (in1 is in1mf2) and (in2 is in2mf1) and (in3 is in3mf2) and (in4 is in4mf2) then (out is mf12) (1) ? 13. If (in1 is in1mf2) and (in2 is in2mf2) and (in3 is in3mf1) and (in4 is in4mf1) then (out is mf13) (1) ? 14. If (in1 is in1mf2) and (in2 is in2mf2) and (in3 is in3mf1) and (in4 is in4mf2) then (out is mf14) (1) ? 15. If (in1 is
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