Design of inverted pendulum based on the co-simulation of ADAMS and MATLAB

Abstract: The control of inverted pendulum system is a nonlinear,complex, unstable,system, It’s an ideal experimental platform of control theory teaching and carrying out of various control experiments. Control methods of inverted pendulum are widely used in military, aerospace, robotics and general industrial fields, such as robot balance control in rocket launch, the verticality control and satellite flight attitude control. This paper first respectively by MATLAB and ADAMS for modeling and Simulation of the inverted pendulum system, and then combining the two for co-simulation.With the PID control, the control of inverted pendulum system are realized by three methods. The simulation results contrast and complement each other, fully demonstrated the characteristics of various simulation methods, and intuitive proves the advantages and significance of combined simulation using this two kinds of software.

TOC \o "1-3" \h \z \u HYPERLINK \l "_Toc358402625" 第1章 绪 论1

HYPERLINK \l "_Toc358402626" 1.1 课题研究背景与意义 PAGEREF _Toc358402626 \h 1

HYPERLINK \l "_Toc358402627" 1.2 国内外发展现状 PAGEREF _Toc358402627 \h 1

HYPERLINK \l "_Toc358402628" 1.3 本论文主要内容 PAGEREF _Toc358402628 \h 2

HYPERLINK \l "_Toc358402629" 第2章 倒立摆的数学模型及控制方法 PAGEREF _Toc358402629 \h 3

HYPERLINK \l "_Toc358402630" 2.1 建模方法的选择 PAGEREF _Toc358402630 \h 3

HYPERLINK \l "_Toc358402631" 2.2 倒立摆系统模型 PAGEREF _Toc358402631 \h 3

HYPERLINK \l "_Toc358402632" 2.3 控制方法的选择 PAGEREF _Toc358402632 \h 6

HYPERLINK \l "_Toc358402633" 2.4 PID算法简介 PAGEREF _T

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