毕业设计一阶倒立摆的自适应滑模控制仿真研究.docVIP

（ 二○○七年六月 摘 要 倒立摆系统是一种非线性、高阶次、多变量、快速和自然不稳定的动态系统，是研究各种控制理论和方法的理想对象及典型试验装置。在控制过程中能有效地反映诸如可镇定性、鲁棒性、随动性以及跟踪等许多控制中的关键问题。因此，倒立摆机理的研究又具有重要的应用价值，成为控制理论中经久不衰的研究课题。 本文以一阶倒立摆系统为研究对象，研究其自适应滑模控制策略。主要完成了以下工作： (1)利用动力学方程建立一阶倒立摆的数学模型，得出描述系统的微分方程。 (2)基于滑模变结构控制、模糊控制和自适应控制设计一阶倒立摆的自适应模糊滑模控制器，并对其进行了李雅普诺夫稳定性分析。 (3)在MATLAB/SIMULINK环境下，针对位置信号为正弦波和方波两种情况进行了该自适应模糊滑模控制器仿真研究。仿真表明，控制效果良好。 尽管本文做了许多工作，但由于时间关系仅进行了仿真研究而未进行实物控制，有待于进一步实现。 关键词:滑动模态；变结构控制；模糊控制；倒立摆系统；李雅普诺夫函数 Abstract Inverted Pendulum, which is a dynamic system with nonlinearity, high equation orders, multivariable, fast reaction and instinct instability, has become an ideal object and typical experiment technique. Many key matters can be effectively reflected during the control process, such as steady, robustness, stochastic and track issues. Therefore, the research of inverted pendulum mechanism has lasted for many years due to its significant application value and has become an unfailing research task in the field of control theory. The paper uses the single inverted pendulum system as a research object to research its adaptive sliding mode fuzzy control strategy. The main research works are as follows: (1) We use dynamics equation to build the mathematical model of the single inverted pendulum and the differential equations describing the inverted pendulum are given. (2) Based on the principle of fuzzy control, sliding mode variable control and adaptive control, an adaptive sliding mode fuzzy controller for the single inverted pendulum is designed and its stability is analyzed by Lyapunov theorem of stability. (3) Aimed at the things of sine wave or square wave being position signal, we respectively simulated for the indirect adaptive fuzzy controller under MATLAB/SIMULINK environment and good simulation results are obtained. Though a lot of research work have been done in this paper, there are still many things to do such as single inverted pendulum’s real control. Key wo