基于线性二级倒立摆多种控制算法的应用研究-控制工程专业论文.docxVIP

内蒙 内蒙古科技大学硕士学位论文 III III of input variables, and reduce the number of fuzzy rules, to avoid the emergence of rule explosion problem, to realize the control function of system; Finally, in Simulink build the system simulation diagram of three kinds of control strategy , and a large number system debugging, and then get a stable system simulation curve. Comparison of the advantages and disadvantages of the various methods of control algorithms. The simulation results show that the curve, Multiple model adaptive control and fuzzy optimal control based on information fusion for inverted pendulum simulation has achieved good control effect. Using C language programming for the inverted pendulum system, and run. Double inverted pendulum pole placement based on state feedback control has swing. An inverted pendulum swing based on fuzzy control has been, smooth pendulum motion, for a certain ability to resist interference Key Words ： Double inverted pendulum;Three control strategy;System Simulation; Programming - - 目 录 摘 要 I Abstract II HYPERLINK \l _bookmark0 1 绪论 1 HYPERLINK \l _bookmark1 1.1 倒立摆研究的发展历程 1 HYPERLINK \l _bookmark2 1.2 论文主要工作安排 2 HYPERLINK \l _bookmark3 1.3 课题意义 3 HYPERLINK \l _bookmark4 2 实验平台的硬件组成及系统建模 5 HYPERLINK \l _bookmark5 2.1 硬件介绍 5 HYPERLINK \l _bookmark6 2.2 数学模型的建立 7 HYPERLINK \l _bookmark7 2.2.1 二级倒立摆系统建模 8 HYPERLINK \l _bookmark8 2.2.2 二级倒立摆数学模型的线性化 13 HYPERLINK \l _bookmark9 2.3 系统的性能分析 16 HYPERLINK \l _bookmark10 2.3.1 稳定性分析 16 HYPERLINK \l _bookmark11 2.3.2 能控性与能观性的分析 16 HYPERLINK \l _bookmark12 2.4 本章小结 17 HYPERLINK \l _bookmark13 3 控制策略的研究 18 HYPERLINK \l _bookmark14 3.1 基于极点配置的状态反馈控制 18 HYPERLINK \l _bookmark15 3.2 线性二次型最优控制器的设计 21 HYPERLINK \l _bookmark16 3.3 多模型自适应控制 22 HYPERLINK \l _bookmark17 3.3.1 多模型自适应控制的工作原理 22 HYPERLINK \l _bookmark18 3.3.2 多模型切换系统的稳定性 23 HYPERLINK \l _bookmark19 3.3.3 多模型自适应控制的应用 24 HYPERLINK \l _bookmark20 3.4 模糊控制方法的研究 25 HYPERLINK \l _bookmark21 3.4.1 模糊控制的基本概念 25 HYPE