自动化基于直线一级倒立摆的复合控制器设计.docVIP

PAGE 31 学校代码： 11059 学 号：0805070204 Hefei University 毕业论文（设计） BACHELOR DISSERTATION 论文题目： 基于直线一级倒立摆的复合控制器设计 学位类别： 工 学 学 士 年级专业（班级）： 作者姓名： 导师姓名： 完成时间： 2012年5月12日 PAGE 32 基于直线一级倒立摆的复合控制器设计 摘 要 倒立摆系统的控制研究长期以来被认为是控制理论及其应用领域里能引起人们极大兴趣的问题。它是检验各种新的控制理论和方法的有效性的著名实验装置。作为一个高阶、非线性不稳定系统，倒立摆的稳定控制相当困难，对该领域的学者来说是一个极具挑战性的难题。 本文阐述倒立摆系统控制的研究发展过程，介绍了倒立摆系统的结构，并详细推导了一级倒立摆的数学模型，为更高层次的控制规律的研究提供了一个途径。研究倒立摆系统的PID控制算法和LQR控制算法，在Simulink的环境下，做了对应的仿真实验并进行比较，在此基础上设计了基于PID算法和LQR算法的复合控制器，仿真结果表明，该复合控制器能够很好的满足要求, 使系统具有结构简单、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 Design of composite controller based on inverted pendulum ABSTRACT The control of inverted pendulum system has long been considered an intriguing problem for control theory and its applications. It is well known as a test bed for new control theory and techniques. As a highly nonlinear and unstable system, the stabilization control of inverted pendulum system is a primary challenge for researchers in this field because of the difficulty of the problem. The thesis introducing the development and current situation of inverted pendulum system research, the mechanism of inverted pendulum are presented. Mathematical model of the higher one level inverted pendulum is particularly educed in this chapter. The thesis discusses the PID control arithmetic, the LQR control arithmetic. And two system simulation researches on the stability of inverted pendulum have been done in the environment of SIMLTLINK. Then compare the strengths and weaknesses between them. Based on LQR control and PID control of the complementary strengths and weaknesses. Design the combination of LQR control PID control composite control. The simulation showed that