一级倒立摆控制策略的研究.pdf

摘 要 倒立摆是一种复杂、时变、非线性、强耦合、自然不稳定的系统，许多抽象的控 制理论概念都可以通过倒立摆实验直观的表现出来。 因此，倒立摆系统经常被用来检 验控制策略的实际效果， 也广泛用于高年级本科生的实验教学， 是现代控制理论研究 与教学中的一种较为理想的实验设备。 本课题利用牛顿法对直线一级倒立摆的小车和摆杆部分进行理论建模和分析； 在 此基础上采用线性二次型最优控制方法 (LQR)设计倒立摆的控制器；并且应用 MATLAB 软件对系统进行理论仿真， 以达到较好的控制效果； 最后，本文通过直线一级倒立摆 实物调试平台验证该方案的可行性。 关键词：直线一级倒立摆；建模；线性二次型最优控制 Abstract Inverted pendulum is a complex, time-dependent, nonlinear, strong coupling, system with natural instability, through the experiment of which many control theory of abstract concepts can be manifested intuitively. Therefore, the control of inverted pendulum system is often used to test strategies in action and undergraduate experimental teaching in higher grade, making it ideal experiment equipment in the study and teaching of modern control theory. This design maintain theoretical modeling and analysis of the wagon and the pendulum part on the straight-line one-level inverted pendulum by Newtons method, basedon which the controller is designed for inverted pendulum using linear quadratic optimal control method; and the software MATLAB is used to get theoretical simulation, in order to achieve better control effect. Finally, the design validates the feasibility of this scheme using a straight-line one-level inverted pendulum debugging platform. Keywords: straight-line one-level inverted pendulum; modeling; linear quadratic optimal control 2 目 录 第一章 绪 论1 1.1 问题的提出及研究意义 1 1.1.1 问题的提出 1 1.1.2