《旋转式倒立摆的控制方法研究论文》-毕业论文.docVIP

毕 业 论 文 课题名称：旋转式倒立摆的控制方法研究 旋转式倒立摆的控制方法研究 中 文 摘 要 倒立摆的种类有直线式倒立摆，旋转式倒立摆，平面倒立摆。经典的问题中可以算是一个。倒立摆系统是一个典型的多变量，不稳定，非线性的系统，在控制理论与应用方面它的控制可以算是一个热点问题，作为典型的实验装置不仅测试现代控制理论还可测试控制方法和思路，这都广泛应用于一般工业过程，所以对倒立摆系统的研究具有重要的理论研究和实际应用价值。许多控制，如控制系统的稳定性的抽象概念，系统控制，收敛速度和系统的抗干扰能力，倒立摆系统都可以表现出来。倒立摆系统具有高阶，不稳定，多变量，非线性和强耦合等特点，许多现代控制理论的研究人员一直把倒立摆系统当做研究对象。研究人员坚持不懈地希望通过倒立摆控制的方法开拓新的控制方法，可以应用在航天科技和机器入口等高科技领域。本文选取了旋转式倒立摆为研究对象，大体说明了系统的机械结构部分，在对旋转式倒立摆系统进行深入研究后，建立了动力学数学模型。研究倒立摆系统的控制策略，利用最优控制和极点配置控制方法对旋转式倒立摆进行研究和稳定性控制，仿真使用MATLAB和SIMULINK工具对两种方法进行了仿真，结果表明这两种方法都是可行的。在旋转式倒立摆系统的控制和效果方面是令人满意的。仿真和实验结果，表明该控制方法切实有效。 关键词： 旋转式倒立摆 ，数学模型 ，拉格朗日法 ， 极点配法 ，LQR法 ，MATLAB仿真 Research on control method of rotational inverted pendulum abstract The inverted pendulum are linear inverted pendulum, rotary inverted pendulum, planar inverted pendulum. Inverted pendulum control is a classical problem. As a typical, multivariable, nonlinear, unstable system, has been a hot problem in the control theory and application, the typical experimental device not only test the modern control theory, and the control methods and ideas are widely used in general industrial process, so the research on inverted pendulum system has important theory research and the practical application value. Many of the abstract concept of control such as the stability of the control system, the system control, convergence speed and the ability of anti-interference of the system, inverted pendulum system can exhibit. Inverted pendulum system of high order, unstable, multivariable, nonlinear and strong coupling characteristics such as many researchers of modern control theories have been regarded as the object of study. They constantly from the inverted pendulum control method to discover the new control method, and its application in Aerospace Science and technology and machine entrance and other high-tech fields. This paper selects the rotary inverted pendulum as research object, introduces the mechanica