倒立摆 adams matlab,基于ADAMS与MATLAB联合仿真地倒立摆设计毕业论文.docx

基于ADAMS与MATLAB联合仿真地倒立摆设计毕业论文

西南科技大学本科生毕业论文

基于ADAMS与MATLAB联合仿真的

倒立摆设计

摘要：倒立摆控制系统是一个复杂的、不稳定的、非线性系统,是进行控制理论教学及开展各种控制实验的理想实验平台。倒立摆的控制方法在军工、航天、机器人和一般工业过程领域中都有着广泛的用途，如机器人行走过程中的平衡控制、火箭发射中的垂直度控制和卫星飞行中的姿态控制等。本文先分别用MATLAB和ADAMS两种软件对倒立摆系统进行建模仿真，然后将两者联合仿真，采用PID控制，用三种方法实现了对倒立摆系统的的控制。仿真结果互相对比、补充，充分展现了各种仿真方法的特点，并直观的论证出利用两种软件进行联合仿真的优点和意义。

关键词：ADAMS；MATLAB；倒立摆；联合仿真

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.

Key words: ADAMS,MATLAB,inverted pendulum, co-simulation

目 录

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