倒立摆xiangguan课题论文.docVIP

倒立摆系统的设计 摘 要 倒立摆是一个非线性、强耦合、多变量和自然不稳定的系统。通过它能有效地反映控制过程中诸如可镇定性、鲁棒性、随动性以及跟踪等多种关键问题，是检验各种控制理论的理想模型。对倒立摆系统的研究不仅具有很重要的理论意义，而且在航天科技和机器人学领域中也有现实指导性意义。 本文以直线二级倒立摆模型为控制对象，阐述了倒立摆稳定控制的研究现状以及倒立摆系统的控制系统及机械结构组成。在数学模型的基础上，重点分析基于Lagrange方程进行数学模型的方法，以及系统的能控性和能观测性。 接着进行了倒立摆系统的LQR控制方法研究。运用最优控制理论，探讨了加权矩阵Q和R的选取方法。然后利用Matlab软件建立倒立摆系统模型，对二级倒立摆的LQR控制器进行了设计与仿真，利用Simulink建立了二级倒立摆的LQR控制模型，实现了二级倒立摆系统的稳定控制。结果表明本文所给出的控制策略是有效的。 最后对倒立摆系统时滞问题进行了分析,给出了系统稳定性的判别公式。 关键词：倒立摆；Lagrange方程；数学模型；最优控制；SIMULINK Design of Inverted Pendulum System ABSTRACT Inverted pendulum is a nonlinear,coupling,variable and natural unsteadiness system.During the controlprocess,pendulum can effectively reflect many pivotal problems such as equanimity, robust,follow-up and track.Therefore,it is a perfect model used to testing various control theories.Studying on inverted pendulum not only has a very important theory significance,but also has a realistic directory meaning in aerospace science and technology and robotics. In this paper,we establish mathematical models of double inverted pendulum system,and analyze the controllability and observability of these models.According to the theoretical analysis,this paper puts forward a solution that it is found by Linear Quadratic Optimal Control Theory.In the following,we design a double inverted pendulum’s controller based on the theory.Based on introducing the present established mathematical model，the method of the Mathematical model was done by analyzing the Lagrange equation. And the system characteristic was briefly analyzed. Next we do research on LQR control algorithm of inverted pendulum system.By using optimization control theory,the selection of matrix Q and R is dicussed.It is introduced how to realize the simulation of the inverted pendulum system by the Matlab.Double inverted pendulum LQR controller is designed and emulated.LQR control model is programmed by Simulink, control of double inverted pendulum hardware system is realized.And it indicates that the control strateg