基于pid的倒立摆控制系统设计.docVIP

摘 要 倒立摆装置被公认为是自动控制理论中的典型实验设备，而一阶倒立摆系统为典型的多变量、非线性、自然不稳定系统。对倒立摆的研究可归结为对非线性、高阶次、不稳定一类系统的研究，其控制方法和思路的研究对一般工业过程有广泛的用途。 本论文主要针对一阶倒立摆系统进行模糊PID控制器设计。首先，对一阶倒立摆设备进行了系统分析，了解其工作机理，硬件结构，软件功能，并以垂直位置为动态稳定点得到这一位置的线性化方程。其次，对模糊控制技术进行了分析，并对模糊PID控制器进行了详细的研究、设计和总结。然后，以一阶倒立摆为被控对象，利用MATLAB软件的SIMULINK仿真功能先用常规PID控制算法进行控制；在常规PID控制的基础上设计了模糊参数自适应PID控制器。模糊参数自适应PID控制器是在PID控制器的基础上对PID参数进行在线修改，增强了PID控制器的自适应性。当系统受到干扰，模型发生改变时，仿真结果表明了对于一阶倒立摆这一复杂非线性系统，模糊PID控制器比常规PID控制有较强的控制能力。 最后，在仿真设计的基础上，采用MATLAB软件的FUZZY控制工具箱生成模糊PID控制器并将其应用于一阶倒立摆系统的控制上，进行了可行性验证，调试顺利，效果良好。实验结果表明，对于倒立摆这一较复杂的系统，采用模糊PID控制算法有效。 关键词：一阶倒立摆；模糊控制；模糊PID控制；PID控制 Abstract Single inverted pendulum is the typical multi-variable, nonlinear, instable, naturally system. The studies of single inverted pendulum can be referred as investigating a classific non-linearity and instability system, the way of control and the thoughts are useful to general industrial process. Inverted pendulum device is considered as traditional tester of automation. In this paper, it investigated how to devise a fuzzy PID controller to insure single inverted pendulum operate right. First, the equipment of single inverted pendulum is studied, which help to understand the mechanism, the structure of hardware and the performance of software. We liner the system at balance position and get linear state equation. Second, the principle of FC is analyzed, and detail research of fuzzy PID controller is made. Then, in order to apply fuzzy PID to the single inverted pendulum system, which is a typical, highly nonlinear and absolutely unstable dynamic system, we observe the position and angles of the pendulum in order to get the right control rule sheet. Fuzzy PID which is able to control single inverted pendulum at a wider range than LQR, especially when is disturbed, or when model is changed, the result of simulation indicate that the fuzzy PID controller still has better ability of control. Last, software is compiled to apply fuzzy PID on single inverted pendulum. The tests on s