单轴倒立摆控制器设计方案.docVIP

摘 要 倒立摆是处于倒置不稳定状态、通过人为控制使其处于动态平衡的一种摆，是一个复杂的快速、非线性、多变量、强耦合、自然不稳定系统，是重心在上、支点在下控制问题的抽象。 本篇论文正文内容共分为四大章节。第一步介绍了倒立摆的概念、分类、课题背景以及目前的发展研究状况；第二步针对一阶单轴倒立摆进行数学建模，求得状态空间方程；第三步针对一阶倒立摆的运动系统进行了稳定性、能观性、能控性的研究分析，结论是小车倒立摆是一个不稳定的可观可控可稳定控制的运动系统；第四步利用了极点配置法、PID原理控制法针对小车倒立摆系统进行了控制方案设计。过程中利用到了Matlab仿真技术，表示出两种方法的控制效果。 本论文的研究对象相对典型完整，整个研究过程中我以理论为基础，数学建模为指导，课本方法为手段，并以实验仿真做结论。内容比较充实完整。 关键词：倒立摆 数学建模 极点配置 PID原理 Matlab仿真 ABSTRACT The inverted pendulum is in the inverted unstable state, by the artificial control of the dynamic balance of a pendulum, is a complex, nonlinear, multivariable fast, strong coupling, natural instability system, is the center of gravity in pivot under control, the abstract. In this paper, the content of the text is divided into four chapters. First introduced the concept of the inverted pendulum, classification, research background and current development research status; second according to the first order single inverted pendulum model, obtained the state space equation; for an inverted pendulum motion system stability, observability, controllability analysis, the conclusion is inverted pendulum is an unstable considerable control stability control system; fourth, using the method of pole placement, the principle of PID control method for inverted pendulum control scheme design for. In the process of using the Matlab simulation technology, show the two methods of control effect. The research object of this thesis is relatively typical, throughout the course of study I is based on the theory, for the guidance of mathematical modeling, the textbook method, and the simulation conclusion. More substantial content integrity. Key words: inverted pendulum mathematical modeling of pole assignment principle of PID Matlab simulation 目 录 第一章 前 言 4 1.1倒立摆控制系统的种类 4 1.1.1倒立摆系统的控制机理 5 1.1.2倒立摆系统的特性 5 1.2 课题背景 6 1.3 课题的研究意义 6 1.4 国内外研究现状 7 1.4.1 针对倒立摆的理论研究 7 第二章 一阶单轴倒立摆建模 11 2.1 数学建模 11 2.2 传递函数 13 2.3 状态空间方程 14 2.4 本章小结 16 第三章 直线一级倒立摆系统的性能分析 17 3.1