单级倒立摆神经网络控制及MATLAB仿真

:1009-7740(2007)03-0100-04MATLABX1,2(1.,213161;2.,223001):,,BP,MATLAB:;;BP;:TP273:A1.,.[1,2]22.11.M,2L,m,,u,x,[3].,.12.2,.M1Kg;m0.1Kg;L1m;f50NPs;g9.81mPs2.[4]:x=m[L2-38gsin2]-fx+uM+m(1-34cos2)(1)=34L(gsin-xcos2)(2),||F5,,sin,cos1.:x=-fx-+uM+14m=-fx-+u(3)=34L(g-x)g-(4)=1M+14m,=3mg4,=34L.(3)(4):x=-fx-+u=g+fx+-ux1=x,x2=x,x3=,x4=:X=AX+BUY=CXA=00001-f0f0-0g+0010200793JournalofLianyungangTeachersCollegeSept,2007No.3X:2007-05-29,:01G52075;,:06KJD510034=00001.0000-4.9703.730-0.717807.9001.00000B=00-=00.97560-0.7317,C=100000102.3{A,B,C}det(I-A)=0,MATLAB:|0-5.1165-2.60182.7483|,|S|,.[5]2.4P=[BABA2BA3B]P=00.97560-0.73170.9756-4.8487-0.73173.6390-4.84872462343.6390-2.38662246234-1249904-2386621205933rankP=4,.3,,||5,,..,[6]:U=K1+K2,(0),(U0),+,U.,x.x,,x,.X.[7]:U=K1+K2+K3x+K4xK1K3,K1K2,K4K3,(5).U=K[xx]=K1x+K2x+K3+K4,,.[-4.8576-2.5282+1.5014i-2.5282-1.5014i-1.8828]MATLAB:K=[11.0119.6896.4935.57]4BP,.BP,.,BP,MATLAB(60,)[xx]U,BP.0.0001,2000.,[41641].,BP41.2.2101[x(0)x(0)(0)(0)]T=[0.0500.080]T,MATLAB3(,,,).3MATLAB,BP,.,BP,0.0000001,BP,83.4.[x(0)x(0)(0)(0)]T=[0.0500.080]T,MATLAB5(,,x,).4MATLAB5MATLAB5.,;,,,;BP,.,.=0,UO,.:[1].PID[M].:,2003.[2],,.RBFPID[J].,2007(6):72-75.[3]ZadehLA.Fuzzyalgorithm[J].InformationContro,l1965(12):94-102.[4]SugenoM.Anexperimentalstudyonfuzzyparkingcontrolu-singamodelcar[C].inIndustrialApplicationsofFuzzyControlSugenoM,ed.Amsterdan:North-Holland,1985.201[5]MaXiaojun,SunZengqi,HeYanyan.Analysisanddesignoffuzzycontrollerandfuzzyobserver[J].IEEETransactiononFuzzySystems.1998,6(1):41-51.[6],,.[J].,2002(5):11-13.[7],,.[J].,2001,23(11):47-49.:(1971-),,,;(1970-),,,,BPNerveNetworkControlStudyonaSingleInvertedPendulumBasedonMATLABMOYong-xin1,SUNHong-bing2(1.WujinCollegeofJiangsuBroadcastUniversity,Wujin213161,China;2.DepartmentofElectronicsandElectricalEngineering,HuaiyinTeachersCollege,Huaian223001,China)Abstract:Inverted-pendulumsystemisdifficulttocontrolbecauseitsinstability.Itbecomesthewonderfulexperimentdevicetoverifyhowaboutthecontrolstrategyinautomaticcontrolexperiments.Thesystemstructure,themathematicmodel,thesystematicstabilityandthecontrollablenaturehavealsobeenanalyzed.ThepaperadopttheBPnervenet2workunderthecontroloftoarrangethefineemulationresulthavingcarriedoutsuccessfulcontrolling,andhavinggainedinMATLABtothehandstand.Keywords:Inverted-pendulum;Mathematicmodel;BPnervenetwork;Controlsystem301