【正文】 7=39。,[] MF3=39。:39。:39。 Range=[ ] NumMFs=2 MF1=39。 對(duì)應(yīng)的源代碼如下： [System] Name=39。將這些狀態(tài)變量作為控制器輸入量，以作用在小車的力 F 作為模糊控制器輸出量。一級(jí)倒立擺的背景源于火箭發(fā)射助推器；二級(jí)倒立擺于雙足機(jī)器人控制有關(guān)。 關(guān)鍵詞： 單級(jí)倒立 擺；微分方程；模糊控制； MATLAB 仿真 基于 MATLAB 的倒立擺模糊控制 caymi 第 2 頁(yè) 共 24 頁(yè) 1 背景分析 倒立擺控制系統(tǒng)是一個(gè)復(fù)雜的、不穩(wěn)定的、 非線性系統(tǒng) ，是進(jìn)行控制理論教學(xué)及開(kāi)展各種控制實(shí)驗(yàn)的理想實(shí)驗(yàn)平臺(tái)。再將經(jīng)過(guò)測(cè)試后的控制理論和控制方法應(yīng)用到更為廣泛的領(lǐng)域中去。當(dāng)擺桿到達(dá)期望的位置后，系統(tǒng)能克 服隨機(jī)擾動(dòng)而保持穩(wěn)定的位置。 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(yè) 共 24 頁(yè) (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 in1mf2) and (in2 is in2mf2) and (in3 is in3mf2) and (in4 is in4mf1) then (out is mf15) (1) ? 16. If (in1 is in1mf2) and (in2 is in2mf2) and (in3 is in3mf2) and