直线单级倒立摆最优控制器的设计.docVIP

直线单级倒立摆最优控制器的设计 作者姓名： 专业名称： 指导教师： 摘要 倒立摆控制系统是一个复杂的、不稳定的、非线性系统，对于倒立摆系统的研究能有效的反映控制中的许多典型问题，因此将系统作为一个经典的控制理论研究平台，是将理论应用于实际的理想平台。本文介绍的主要是基于线性二次型最优理论的方法对倒立摆最优控制器的设计。倒立摆的最优控制器使系统的动态性能和稳态性能得到了极大地改善，能够让小车准确定位停车、重物摆角在极短的时间内衰减为零，实现系统的无摆运行。具有结构简单、控制精度高、成本低、易实现等特点，能够应用到工业实际中，满足现代化的生产需要。 基于系统本身及外界因素的影响，系统的综合目的就是设计最优增益矩阵，将闭环系统的极点恰好配置在根平面上期望极点的位置，在此基础上采用线性二次型最优控制方法设计了倒立摆控制器。最后，通过实验验证设计结果并给出控制器的性能评价。 关键词 ：倒立摆 拉格朗日方程 系统性能分析 LQR MATLAB Abstract Inverted pendulum control system is a complex, nonlinear, unstable system, the inverted pendulum system can effectively reflect the control of many typical problems, so the system as a classic control theory research platform, is applied the theory to practice the ideal platform. This paper introduces mainly is based on the linear quadratic optimal theory two method of optimal controller design for inverted pendulum. Inverted pendulum optimal controller to make the system dynamic performance and steady state performance has been greatly improved, can make accurate positioning, car parking weight pendulum angle in a very short time to decay to zero, the system without the pendulum. Has the advantages of simple structure, high control accuracy, low cost, easy to realize and other characteristics, can be applied to industrial practice, meet the modern needs of production. Based on the system itself and the impact of external factors, the integrated system is aimed to design the optimal gain matrix, the closed-loop pole just configured in the root plane expected pole position, based on the linear quadratic optimal control method to design the two inverted pendulum control device. Finally, through the experimental verification of the design results and give the controller performance assessment. Keywords: inverted pendulum, lagrange equation, System performance analysis, LQR, MATLAB 目录 摘要 I Abstract II 目录 III 前言 1 1绪论 2 1.1 倒立摆系统简介 2 1.2 倒立摆系统的分类 3 1.3 倒立摆研究的意义 3 1.4 本文研究的主要内容 4 2直线一级倒立摆的数学模型建立 5 2.1 数学模型建立的方法 5 2.2 拉格朗日建模法 5 2.3 本章小结 10