环形单级倒立摆的稳定控制研究与实现-控制理论与控制工程专业论文.docxVIP

II II ABSTRACT Research on inverted pendulum system has the important theory significance and the project practical value because it can reveal directly many abstract control concepts，solve some classic problems in the field of automatic control, test whether instabilities and nonlinear system can be solved by a control theory or method. Research achievements on inverted pendulum system can be applied in many control areas such as robot, military industrial technologies, spaceflight technology and common industrials. In view of existing situation that the quantity of articles about simulation control research on inverted pendulum system is much more than that of articles about real time control research on inverted pendulum system and that the quantity of articles about linear inverted pendulum system is much more than that of articles about rotary inverted pendulum system, we discussed real time control research on rotary single inverted pendulum system by making use of Sliding Mode Variable Structure Control Theory and Linear-Quadratic-Gaussian (LQR), respectively. 1、Structure, mathematical modeling and performance analysis of rotary single inverted pendulum system. Firstly, the mathematical model of rotary single inverted pendulum system has been derived on the basis of the operation principle and structure. Secondly, stability and controllability have been discussed and the results revealed that the system is open-unstable and complete controllability. 2、Stability control and realize of rotary single inverted pendulum system based on Sliding Mode Controller of Variable Structure. Firstly, Sliding Mode Controller of Variable Structure of rotary single inverted pendulum system has been designed base on its equivalent control and analysis of stability for its sliding mode motion. Secondly, real time control research on rotary single inverted pendulum system by making use of Sliding Mode Variable Structure Control Theory has been discussed. In Matlab/simulink system