环形二级倒立摆的稳定控制的开题报告.docx

环形二级倒立摆的稳定控制的开题报告 题目：环形二级倒立摆的稳定控制 摘要： 环形二级倒立摆是一种非线性系统，其动力学过程极其复杂，系统具有不可逆性、不可线性性、不可稳定性等难题。本文针对环形二级倒立摆的稳定控制问题展开研究。首先，分析环形二级倒立摆的系统结构和动力学模型，引入线性化控制和非线性控制的概念，探讨各种控制方法的优缺点。其次，采用MATLAB/Simulink对环形二级倒立摆进行仿真实验，验证各种控制方法对系统的稳定性和控制能力的影响。最后，总结本文的研究成果，并对未来的研究方向提出展望。 关键词：环形二级倒立摆、稳定控制、线性化、非线性控制、仿真实验 Abstract: The ring-shaped two-stage inverted pendulum is a non-linear system with extremely complex dynamic processes, and the system has problems such as irreversibility, non-linearity, and instability. This paper focuses on the stability control of the ring-shaped two-stage inverted pendulum. Firstly, the system structure and dynamic model of the ring-shaped two-stage inverted pendulum are analyzed, and the concepts of linearized control and nonlinear control are introduced, and the advantages and disadvantages of various control methods are discussed. Secondly, MATLAB/Simulink is used to conduct simulation experiments on the ring-shaped two-stage inverted pendulum to verify the influence of various control methods on the stability and control ability of the system. Finally, the research results of this paper are summarized, and prospects for future research directions are proposed. Keywords: ring-shaped two-stage inverted pendulum, stability control, linearization, nonlinear control, simulation experiment