直线一级倒立摆系统建模及控制策略研究.pdfVIP

直线一级倒立摆系统建模及控制策略研究 摘 要 倒立摆系统是一个典型的高阶次，不稳定，多变量，非线形和强耦合控制系 统。它不仅仅是一种优秀的教学实验仪器，同时也是进行控制理论研究的理想实 验平台。许多抽象的控制理论概念如系统稳定性、可控性和系统抗干扰能力等等， 都可以通过倒立摆系统实验直观的表现出来，通过倒立摆系统实验来验证所学的 控制理论和算法，非常的直观、简便，从而可以加深对所学课程的理解。 本文介绍了倒立摆系统的构成和一些关于它的控制方法,例如：PID控制、模 糊神经网络控制、拟人控制、频率响应、状态空间极点配置法等。采用牛顿－欧 拉方法对倒立摆系统进行建模，应用根轨迹法对系统的控制器进行设计。运用 MATLAB 程序分析了系统的性能包括稳定性、可控性和可观性。并且应用MATLAB 软件对倒立摆系统进行调试和仿真，从而成功的实现了对一级倒立摆系统的稳定 控制。 关键词：倒立摆，根轨迹法，控制理论，非线性控制，不稳定系统 1 直线一级倒立摆系统建模及控制策略研究 ABSTRACT Inverted pendulum system is a typical high-order time , unstable , many variables, it is not the line shape and strong coupling control system. It is not onely a kind of outstanding teaching laboratory apparatus, and in the ideal experiment platform which controls the theoretical research too at the same time . A lot of abstract control theory concepts are such as stability of the system , controllability and system anti-interference ability ,etc., can like systematic experiment ocular showing through the Inverted pendulum , verify the control theory and algorithm learnt through putting the systematic experiment in the Inverted pendulum, it is ocular , simple and convenient very, thus strengthened the understanding to courses studied. This text has introduced system forming and some control methods about it, for example: PID is controlled, fuzzy neural network control, personification control, frequency is responded, the limit of state space dispose law ,etc.. Adopt Newton - Euler method wave to handstand system carry on modeling , use root orbit