文档介绍：精品资料
学校代码: 11059
学号:0605076034
Hefei University
毕业论文(设计)
BACHELOR DISSERTATION
论文题目: 直线式一级倒立摆的实验研究
学位类别: 工学学士
学科专业: 自动化
作者姓名: 田朝金
导师姓名: 王俊
完成时间: 2010年5月25日
直线式一级倒立摆的实验研究
中文摘要
倒立摆问题是动力学中最重要的问题之一,并且在控制理论中已被充分的研究过。它是一个已经被建立的基准问题,这给控制设计提供了很多具有挑战性的问题。该系统是非线性,不稳定,非最小相位和欠驱动的。伴随噪音测量信号,它不是去状态可测量的。存在许多寄生效应例如,摩擦,杆和轴的弹性模式,齿轮和皮带的反弹效应,连同输入饱和。这些挑战使得倒立摆成为控制实验室中一个典型的工具【1】。它经常被用来说明非线性控制,面向任务控制,混合系统控制及混沌系统控制中的一些概念。
倒立摆有许多控制方法,比较常见的有频率响应控制、PID控制、极点配置控制、根轨迹控制、LQR控制等。本课题以固高公司的直线倒立摆GIP21002L为研究对象,运用牛顿动力学方法建立其非线性数学模型,得到系统的状态空间方程;用极点配置法、线性二次最优控制策略的LQR法和模糊控制法,设计倒立摆控制系统的控制器;通过MATLAB对直线一级倒立摆系统进行仿真和实物控制。
关键词:倒立摆、极点配置控制、LQR控制、模糊控制
Inverted pendulum controller design posite
ABSTRACT
Inverted pendulum system is a nonlinear unable systems, control theory is to carry put a variety of teaching and an ideal platform for testing control, so by the countries and engineering studies concern the experts and scholars. Many abstract concepts such as stability control systems, controllability, speed of system convergence and systems such as anti-interference ability, to pass though the inverted pendulum system shown intuitive. So far, it has been the use of classical control theory ,modern control and a variety of intelligent control a variety of methods to achieve the stability of inverted pendulum control system.
Inverted pendulum control methods there are many, there is the mon PID control, LQR control, fuzzy control. In the use of a single control, can not at the same time inverted pendulum system robustness and steady-state error at the same time to achieve a satisfactory effect, subject to pany’s line of high-solid inverted pendulum for the study, bination of LQR control PID pound control, that is based on LQR control and PID control of plementary strengths and weaknesses. Their system with simple structure, easy to implement and has strong adaptability and robustness, and can get a good dynamic performance and steady-state performance.
KEY WORDS: Inverted pendulum;PID contr