直线二级倒立摆系统建模及控制策略研究.pdfVIP

直线二级倒立摆系统建模及控制策略研究 摘 要 倒立摆系统的控制一直是控制理论及应用的典型课题，而实施有效控制的 关键是对该系统进行建模。直线二级倒立摆系统是一个复杂的、非线性的、不 稳定的高阶系统。文章首先对倒立摆系统进行物理结构和运动模态的分析，详 述了如何利用拉格朗日方程建立系统的数学模型。在建立了系统线形化数学模 型的基础上，运用 MATLAB 软件分析了系统性能包括可控性，可观测性和稳定 性。通过对大量控制方法的比较，最终采用了一种结构新颖的模糊控制方法。 为了分析控制效果，对模糊控制的系统加入扰动后进行 Simulink 仿真。反复调 整后通过对控制律的参数寻优，实现了二级倒立摆的稳定控制。仿真研究结果 表明：本文提出的模糊控制算法，无论是动态指标还是稳态精度方面都有明显 的优越性。 关键词: 模糊控制，二级倒立摆系统，Simulink 仿真，非线性 I 直线二级倒立摆系统建模及控制策略研究 Abstract The control of inverted pendulum system always controls the theories and applied typical model lesson, but putting valid control into practices to proceeds to set up the mold to that system. Double Inverted pendulum system is a high level system with the feature of complicacy, multi-variable, non-linearity and tight coupling. In this paper, first analysis the physics construction and the modeling, and the modeling of linear double inverted pendulum system by using Lagrange equation is described in detail. Basing on the linearized mathematical model of the system, characters of the system including its controllability, observability and stability was analysised by sets of the MATLAB commands. Pass to comparison large quantity control methods, at last adopted the Fuzzy control method of a kind of construction. To analysis the control result, the system controlled by new Fuzzy controller and the system adding interference on all possible point are simulated in simulink. After adjusting again and again pass the regulation of the control and look for the best variable. The simulation results show that the fuzzy control algorithm proposed in this paper is advanced and effective in many functions. Keywords: Fuzzy control, Double inverted pendulum, Simulink, non-linearity