单级倒立摆控制器设计与实现40本科毕设论文41.docVIP

西安理工大学本科生毕业设计（论文）  PAGE \* MERGEFORMAT 1 (此文档为word格式，下载后您可任意编辑修改！) 毕业设计（论文） 题 目 单级倒立摆控制器 设计与实现 周冰：单级倒立摆控制器设计与实现 西安理工大学本科生毕业设计（论文）  PAGE \* MERGEFORMAT 2  PAGE \* MERGEFORMAT 1  单级倒立摆控制器设计与实现 摘 要 自然界中的许多系统都是非线性的，单级倒立摆系统（Single Level Inverted Pendulum System）就是一个典型多变量、不稳定和强耦合的非线性系统。它的这些特性使得许多抽象的控制理论概念如系统稳定性、可控性等等，都可以通过单级倒立摆系统实验直观的表现出来。而作为实验装置，倒立摆又具有成本低廉、结构简单、便于模拟、形象直观的特点。因此，目前许多控制理论的研究人员一直将它视为典型的研究对象，用于验证控制方法的正确性。 本设计首先建立倒立摆系统的数学模型，在熟悉线性系统的基本理论和非线性系统线性化的基本方法的基础上确定研究方案和实施的控制方法。通过MATLAB软件对倒立摆进行仿真实验，实现了倒立摆的平衡控制。并在此仿真实验的基础上使用硬件设备进行实际控制。  PAGE \* MERGEFORMAT 30  PAGE \* MERGEFORMAT 31 关键词： 单级倒立摆；控制方法；MATLAB；仿真；硬件 Abstract Many of the natural world System are nonlinear, and Single level Inverted Pendulum System is a typical variable, stable and strong coupling nonlinear System. These properties make many abstract concepts of control theory such as stability, controllability and so on, can all intuitive expression comes out through the single inverted pendulum system experiment. And, as an experimental device, it structure, convenient in simulation, image intuitively. Therefore, now many the researchers of control theory are always take it as the typical research object, using to prove the correctness of the control method. In this paper, first of all to building the inverted pendulum mathematics model, on the basic of the familiar with the basic theory of linear system and the basic methods of nonlinear system linearization, determining the system program of the research and the implementation of the system control method, as the all state feedback control of single stage of the inverted pendulum. Through the programming software MATLAB simulation experiment, realize the balance control of the inverted pendulum. The experimental results verify the validity and feasibility of the control method in this paper. Key words: Single Inverted Pendulum System；control method；MATLAB；simulation；*n、n*p、n*q维实数矩阵。状态反馈系统的控制量u取为