单级倒立摆控制系统设计及MATLAB中的仿真..doc

单级倒立摆控制及仿真单级倒立摆系统是一种广泛应用的物理模型。控制单级倒立摆载体的运动是保证倒立摆稳定 完成了对倒立摆载体的角度制导运动微分方程 Matlab\simulink软件工具对 单级倒立摆；仿真；模糊控制；运动；建模；SimulinkDesign of single stage inverted pendulum control system and Simulink simulation Abstract: inverted pendulum system is unstable system with a typical multi variable, nonlinear, strong coupled and fast motion. So the research on the attitude adjustment of the double foot robot and the attitude adjustment of the rocket launching process and the helicopter flight control field have practical,significance. The related scientific research achievements have been applied to many fields such as aerospace science and robotics. Single inverted pendulum system is a widely used physical model. Controlling the movement of the single inverted pendulum is the key factor to guarantee the stability of the inverted pendulum. In order to avoid some shortcomings of common physical feedback analysis method and motion trajectory camera guidance control method, this paper presents a pure angle guidance analysis on the motion of the inverted pendulum, and designs the fuzzy control system of the model. Experimental results show that the operation speed and computer simulation of this kind of fuzzy control combined with algebraic analysis method are improved by the physical feedback control method. This method can effectively improve the performance of a single stage inverted pendulum control system. In this paper, the main work of this paper is to study the fuzzy control of a linear inverted pendulum system, and the Matlab and Simulink to simulate the fuzzy control system of a single inverted pendulum, verify the feasibility of the design. And a mathematical modeling method of an inverted pendulum is described, their differential equations are derived, and the equation of state is linearized. The fuzzy control method and operation steps of single stage inverted pendulum system are discussed. Using Simulink to realize the fuzzy control simulation system of a single inverte