基于MATLAB倒立摆控制系统仿真.docxVIP

基于MATLAB的倒立摆控制系统仿真  PAGE \* MERGEFORMAT 34 基于MATLAB的倒立摆控制系统仿真 摘 要 自动控制原理（包括经典部分和现代部分）是电气信息工程学院学生的一门必修专业基础课，课程中的一些概念相对比较抽象，如系统的稳定性、可控性、收敛速度和抗干扰能力等。倒立摆系统是一个典型的非线性、强耦合、多变量和不稳定系统，作为控制系统的被控对象，它是一个理想的教学实验设备，许多抽象的控制概念都可以通过倒立摆直观地表现出来。本文以一级倒立摆为被控对象，用经典控制理论设计控制器（PID控制器）的设计方法和用现代控制理论设计控制器（极点配置）的设计方法，通过MATLAB仿真软件的方法来实现。 关键词： 一级倒立摆 PID控制器 极点配置  Inverted pendulum controlling system simulation based on the MATLAB ABSTRACT Automatic control theory (including classical parts and modern parts) is a compulsory specialized fundamental course of the students majored in electrical engineering. Some of the curriculum concept is relatively abstract, such as the stability, controllability, convergence rate and the anti-interference ability of system. Inverted pendulum system is a typical nonlinear, strong coupling, multivariable and unstable system. It is an ideal teaching experimental equipment as a controlled object, by which many abstract control concepts can be came out directly. This paper chose first-order inverted pendulum as the controlled object. First, the PID controller was designed with classical control theory. Then pole-assignment method was discussed with modern control theory. At last, the effectness of the two methods was verified by MATLAB simulation software. KEY WORDS: First-order inverted pendulum PID controller pole-assignment目 录  TOC \o 1-3 \h \z \u   HYPERLINK \l _Toc325622672 摘 要  PAGEREF _Toc325622672 \h I  HYPERLINK \l _Toc325622673 ABSTRACT  PAGEREF _Toc325622673 \h II  HYPERLINK \l _Toc325622674 1 绪论  PAGEREF _Toc325622674 \h 1  HYPERLINK \l _Toc325622675 1.1 倒立摆的控制方法  PAGEREF _Toc325622675 \h 1  HYPERLINK \l _Toc325622676 1.2 MATLAB/Simulink简??  PAGEREF _Toc325622676 \h 2  HYPERLINK \l _Toc325622677 1.3 主要内容  PAGEREF _Toc325622677 \h 3  HYPERLINK \l _Toc325622678 2 一级倒立摆  PAGEREF _Toc325622678 \h 3  HYPERLINK \l _Toc325622679 2.1 实验设备简介  PAGEREF _Toc325622679 \h 3  HYPERLINK \l _Toc32562