基于一级倒使用立摆的复合控制器设计_毕业论文设计初版.doc

Hefei University 毕业论文（设计） BACHELOR DISSERTATION 论文题目： 基于一级倒立摆的复合控制器设计 学位类别： 工 学 学 士 学科专业： 自 动 化 完成时间： 2013年5月日 基于一级倒立摆的复合控制器设计 中 文 摘 要 倒立摆系统是非线性不稳定系统，是开展各种控制验及进行控制理论教学的理想平台，因此受到各国及工程研究专家学者的关注。多抽象的概念都可以通过倒立摆系统直观的表现出来如控制系统的可控性、稳定性、系统的抗干扰能力和系统的收敛速度等。迄今，人们己经利用经典控制理论、现代控制理论以及各种智能控制方法实现了多种倒立摆系统的稳定控制。 倒立摆有许多控制方法，比较常见的有PID控制、LQR控制模糊控制等。在使用单个控制时，总不能同时使倒立摆系统的鲁棒性和稳态误差同时达到一个满意的效果本课题以固高公司的直线倒立摆为研究对象，采用LQR控制结合PID的复合控制，即根据LQR控制和PID控制的优缺点互补使其系统具有结构简单、易于实现以及具有较强的适应性和鲁棒性，并且可以获得良好的动态性能和稳态性能。 关键词：倒立摆；PID控制；LQR控制；复合控制 controller based on inverted pendulum ABSTRACT Inverted pendulum system is a nonlinear unable systems, control theory is to carry put a variety of teaching and an ideal platform for testing control, so by the countries and engineering studies concern the experts and scholars. Many abstract concepts such as stability control systems, controllability, speed of system convergence and systems such as anti-interference ability, to pass though the inverted pendulum system shown intuitive. So far, it has been the use of classical control theory ,modern control and a variety of intelligent control a variety of methods to achieve the stability of inverted pendulum control system. Inverted pendulum control methods there are many, there is the more common PID control, LQR control, fuzzy control. In the use of a single control, can not at the same time inverted pendulum system robustness and steady-state error at the same time to achieve a satisfactory effect, subject to the company’s line of high-solid inverted pendulum for the study, the combination of LQR control PID control compound control, that is based on LQR control and PID control of the complementary strengths and weaknesses. Their system with simple structure, easy to implement and has strong adaptability and robustness, and can get a good dynamic performance