外文翻译--倒立摆原稿(编辑修改稿)

外文翻译--倒立摆原稿(编辑修改稿)内容摘要：

erms of the error dynamics are reduced from the uncertainties (as in the conventional SMC) to the accuracy in their estimates. The result is a much better tracking accuracy without being over conservative in control. 在这篇论文中我们提出一个机电系统中分散震动控制器的设计方法除了滑模震动控制器结构和干扰转矩的估算。 估算的精确性是这个计划中最中坚的评定参数，与上面的不确定的范围正好相反。 因此，在评估的精确 性中控制一些误差动力学的条件减少了一些不确定性（就如同在传统的 SMC 中）。 结果在没有超越传统的控 制中是一个较好的跟踪精度。 Experimental robustness properties of fuzzy controllers remain theoretically difficult to prove and their synthesis is still an open problem. The nonlinear structure of the final controller is derived from all controllers at the different stages of fuzzy control, particularly from mon defuzzification methods (such as Centre of Area). In general, fuzzy controllers have a regionwise structure given the partition of its input space by the fuzzification stage. Local controls designed in these regions are then bined into sets to make up the final global control. A partition of the state space can be found for which the controller has regionwise constant parameters. Moreover, each fuzzy controller tuning parameter (. the shapes and the values of input or output variables membership functions) influences the values of parameters in several regions at the same time. In the particular case of a switching line separating the phase plane into one region where the control is positive whereas in the other it is negative, the fuzzy controller may be seen as a variable structure controller. This kind of a fuzzy controller can be assimilated to a variable structure controller with boundary layer such as in, for which stability theorems exist, but with a nonlinear switching surface. 模糊控制装置的实验的健全的性质难以用理论去证明它们的综合仍然是一个未解决的问题。 最终控制器的非线性性质来源于各级 模糊控制的控制器，显著地逆模糊化方法（诸如中心区）。 通常，模糊控制器有一个区域劝导的性质是模糊化级数给的输入空间。 本地控制设计这些区域结合成集使最终的全球控制实现。 一个级 数空间的分割可以在控制器有区域劝导的常数参数中找到。 此外，每个模糊控制器调整参数（即形状以及输 入输出的变量的值的隶属函数）会在同一时间在某些区域影响参数的值。 在特殊情况下开关线将相平面分成 一个区域那个区域中控制是正的反之另一边是负的，模糊控制器可以视为一个可变结构的控制器。 这类的模 糊控制器可以吸收到可变结构控制器边界层，其中稳定性定 理存在，而是一个非线形开关面。 With the use of trapezoidal input membership functions and appropriate position and inference methods, it will be shown that it is possible to obtain rule membership functions which are regionwise affine functions of the controller input variable. We propose a linear defuzzification algorithm that keeps this regionwise affine structure and yields a piecewise affine controller. A particular and systematic parameter tuning method will be given which allows turning this controller into a variable structurelike controller. We will pare this regionwise affine controller with a Fuzzy and Variable Structure Controller through the application to an inverted pendulum control. 通过梯形输入隶属函数的使用和适当的作图法和推论方法，这将说明那是有可能遵循规则区域劝导的输 入变量仿射函数的隶属函数。 我们提出线形逆模糊化算法它能这个区域劝导仿射结构和产生一个块仿射控制 器。 一个特殊的系统的参数调节方法将会被给定它允许把这个控制器调节成一个可变的结构相似的控制器。 我们将比较这个区域劝导仿射控制器和一个模糊的可变结构的控制器通过应用一个倒立摆控制。 So far, in the application note series, we have provided several examples showing how to create fuzzy controllers with FIDE. However, these examples do not provide topics on implementation of the designed system. In this application note, we use an example of an inverted pendulum to provide details on all aspects of fuzzy logic based system design. 迄今为止，在应用笔记系列中，我们已经提供了许多展示如何用 FIDE 创造模糊控制装置的例子。 然而， 这些例子不能提供设计系统执行的话题。 在这应用笔记中，我们可以用一个倒立摆的例子来提供模糊逻辑基 础系统设计的所有方面的细节。 We will begin with system design。 analyzing control behavior of a t。