. 3.30 3.34 : (1) , ; (2) - , .
. .3.30 3.34 : X pendulum angle ; Z cart position ; control error ; control force ; - ; - ; -.
, : ; (.. , ), , , -.
. 3.30. (FC) (PID)-.
. 3.31. (FC) (PID)-.
. 3.32. (FC) (PID)-.
. 3.33. , (FC) (PID)-.
. 3.34. (PID)-.
, .
, , , .
:
, ( ): (. 3.35);
= 0.002 .
. 3.36 3.39 () .
: (1) , ; (2) - , .
. 3.36 ; . 3.37 ; . 3.38 ( ) (2.3); .3.39 -.
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. 3.35.
. 3.36. (FC) (PID)- ( ).
. 3.37 (FC) (PID)- ( ).
. 3.38 , (FC) (PID)- ( ).
. 3.39. (PID)- ( ).
:
, , ;
, ; (.. ), - .
, , ( ). , .
: (1) ; (2) , , . , , , , .
5 (.. Benchmarks ) .
, ( ) : (1) ; (2) ( ), () , ; (3) .
3
1. Litvintseva L.V., Ulyanov S.V. Takahashi K., Ulyanov S.S. Intelligent robust control design based on new types of computations. Part 1: New soft computing technology of KB-design Benchmarks of smart control simulation for nonlinear dynamic systems. Universita degli Studi di Milano, Polo Didattico e di Ricerca di Crema Publ. 2004. Vol. 60.
2. .., .., .. - . . II // . . . 2006. 5. . 6997.
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3.