基于LMI的单级倒立摆鲁棒控制器设计毕业论文.docVIP

毕业设计（论文）说明书 题目名称： 基于LMI的单级倒立摆鲁棒控制器设计 摘 要 倒立摆控制系统是一个多变量、高阶次、非线性和强耦合的典型不稳定控制系统，它的各项参数具有不确定性，同时还受到不确定因素的干扰。倒立摆是各界学者公认的典型教学和科研设备，也是控制理论教学中具有代表性的被控对象。通过对倒立摆控制系统的研究可以有效解决控制环节中的理论问题，也是实现理论通往实践的桥梁。 本文首先简单介绍倒立摆控制系统的实验设备，了解性能控制的理论方法和研究过程；利用牛顿—欧拉方法对倒立摆系统进行建模，得出一个非线性的数学模型；在平衡点附近提出假设，对模型做了线性化处理；然后，利用LMI方法（线性矩阵不等式法）设计了状态反馈控制器，给出系统具有性能的线性矩阵不等式的条件，并用倒立摆系统实例及其仿真来验证设计方法的有效性和优越性。用Solidorks软件做了三维建模；完成了模型的ADAMS建模和仿真，得到了摆杆速度、小车位移和小车加速度的函数图像，并输出了仿真动画。浅谈控制器增益在加法式摄动下的非脆弱鲁棒控制问题；基于LMI理论（线性矩阵不等式法），提出了非脆弱鲁棒控制器存在的充分条件，利用Matlab中的LMI工具箱求解了控制器的特征值。在设计状态反馈控制器时，本文采用求解Riccati方程的方法。由于对广义被控对象来说，评价指标的确定就成为系统设计的关键，因此本文综合考虑各方面问题，结合实际情况，在理论分析和仿真过程中反复验证，得出了比较合理的参数，保证了设计状态反馈控制器的合理及有效性。 关键词：控制；倒立摆；状态反馈； ADAMS仿真； LMI方法 Abstract The control of inverted pendulum system is a multivariable, high-order, nonlinear and strong coupling of typical unstable control system and its parameters with uncertainty, but also by the uncertain factors of interference. The inverted pendulum is a typical teaching and research equipment recognized by scholars from all walks of life, and it is also the representative object of the control in the teaching of control theory.. The research on the control system of the inverted pendulum can effectively solve the theoretical problems in the control link, and also the bridge to achieve the theory to practice. firstly, this paper simply introduced the inverted pendulum control system experimental equipment and understand the performance of control theory, method and research process; modeling of the inverted pendulum system by Newton Euler method, get a nonlinear mathematical model; in the vicinity of the equilibrium point hypothesis, the linearization of the model; then, using LMI (linear matrix inequality method) to design the state feedback controller, gives the system with performance in terms of linear matrix inequality conditions and inverted pendulum system as an example and simulation to verify the effectiveness and superiority of the design method. SolidWorks software is use