倒立摆毕业设计论文.doc

摘要 倒立摆是进行控制理论研究的典型实验平台，许多抽象的控制理论概念，如系统的稳定性、可观性及可控性等都可以通过该系统直观地表示出来。倒立摆系统是一个典型的非线性、强耦合、多变量的不稳定系统，在控制研究领域有着代表性的意义，难以用经典的控制理论建立其控制器。倒立摆作为控制系统的被控对象，许多抽象的控制概念都可以通过它直观的表现出来。 本毕业设计以直线倒立摆为研究对象，对直线一级倒立摆模型控制算法的仿真，并得出了相应的结论。首先对倒立摆的分类、特性、控制目标、控制方法等以及倒立摆控制研究的发展及其现状进行了分析。然后利用动力学原理推导了直线一级倒立摆的数学模型，求出其传递函数及状态空间方程。利用现代控制理论方法，借助MATLAB程序分析了直线倒立摆系统的稳定性、可控性和可观性。 在建立系统模型的基础上，研究了倒立摆系统的控制策略。对直线一级倒立摆控制采用经典控制方法，设计了常规PID控制器、双路PID控制器及基于倒立摆系统的状态空间方程PID控制器，并利用MATALAB/Simulink软件进行仿真，取得不同的控制效果。对直线一级倒立摆控制采用现代控制方法，设计了LQR控制器，得出直线一级倒立摆LQR控制仿真图，通过改变Simulink的LQR模块及状态空间模块中的参数得到最好的控制效果。 关键词： Abstract The inverted pendulum is put to go on in the typical experiment platform which controls the theoretical research, a lot of abstract control theory concepts,such as instance systematic stability, considerable and controllability,etc. can all show ocularly thought this system.The inverted pendulum system is characterized as a fast multi-variable nonlinear essentially unsteady system. Control research fieldrepresentative meaning, set up his controller with the classical control theory while being difficult. The handstand is put as the target of accusing of of the control system, a lot of abstract control concepts can all show ocularly through it. Graduation project this wave, for research object, wave model emulation to control algorithm with straight line handstand to straight line first class handstand have drawn the corresponding conclusionhas made the modelings, control algorithm simulations and experiments on the 1-stage inverted pendulum, and has drawn the corresponding conclusion.At first to classification, characteristic, control goal that handstand wave, control method,etc. and handstand wave development and current situation studied to control analyze. Then utilize the dynamics principle to derive the mathematical model that the straight line first class handstand puts, ask it out and transmit the function and state space equation. Utilize the modern control theory. The control stategies of inverted pe