基于MATLAB的倒立摆控制系统仿真
摘 要
自动控制原理(包括经典部分和现代部分)是电气信息工程学院学生的一门必修专业基础课,课程中的一些概念相对比较抽象,如系统的稳定性、可控性、收敛速度和抗干扰能力等。倒立摆系统是一个典型的非线性、强耦合、多变量和不稳定系统,作为控制系统的被控对象,它是一个理想的教学实验设备,许多抽象的控制概念都可以通过倒立摆直观地表现出来。本文以一级倒立摆为被控对象,用经典控制理论设计控制器(PID控制器)的设计方法和用现代控制理论设计控制器(极点配置)的设计方法,通过MATLAB仿真软件的方法来实现。
关键词: 一级倒立摆 PID控制器 极点配置
Inverted pendulum controlling system
simulation based on the MATLAB
ABSTRACT
Automatic control theory (including classical parts and modern parts) is a compulsory specialized fundamental course of the students majored in electrical engineering. Some of the curriculum concept is relatively abstract, such as the stability, controllability, convergence rate and the anti-interference ability of system. Inverted pendulum system is a typical nonlinear, strong coupling, multivariable and unstable system. It is an ideal teaching experimental equipment as a controlled object, by which many abstract control concepts can be came out directly. This paper chose first-order inverted pendulum as the controlled object. First, the PID controller was designed with classical control theory. Then pole-assignment method was discussed with modern control theory. At last, the effectness of the two methods was verified by MATLAB simulation software.
KEY WORDS: First-order inverted pendulum PID controller pole-assignment
目 录
TOC \o "1-3" \h \z \u
HYPERLINK ABSTRACT PAGEREF _Toc325622673 \h II
HYPERLINK \l "_Toc325622674" 1 绪论 PAGEREF _Toc325622674 \h 1
HYPERLINK 1.1 倒立摆的控制方法 PAGEREF _Toc325622675 \h 1
HYPERLINK \l "_Toc325622676" 1.2 MATLAB/Simulink简介 PAGEREF _Toc325622676 \h 2
1.3 主要内容 PAGEREF _Toc325622677 \h 3
HYPERLINK 2 一级倒立摆 PAGEREF _Toc325622678 \h 3
HYPERLINK 2.1 实验设备简介? PAGEREF _Toc325622679 \h 3
HYPERLINK \l "_Toc325622680" 3 直线一级倒立摆的数学模型 PAGEREF _Toc325622680 \h 4
HYPERLINK \l "_Toc325622681" 3.1 直线一级倒立摆数学模型的推导 PAGEREF _Toc325622681 \h 4
HYPERLINK \l "_Toc325622682" 3.1.1 微分方程模型 PAGEREF _Toc325622682 \h 6
HYPERLINK 3.1.2 传递函数模型? PAGEREF _Toc325622683 \h 7
HY