直线倒立摆控制系统模拟仿真设计+matlab程序
本课题利用牛顿-欧拉法对直线一级倒立摆小车及摆杆建模，推导出倒立摆系统的状态空间方程级输出方程，导出其输出函数。然后根据给定的控制性能要求和传递函数模型，在matlab平台上设计直线倒立摆控制系统，给出校正装置或控制器的传递函数模型。首先利用PID算法对倒立摆进行平衡控制。PID算法可以帮助我们进行数据的采集，以及控制量的计算与输出，并且对直线一级倒立摆系统的开始摆动与稳定摆动进行控制，并可以显示输出的数据、曲线。20775
最后对本课题所做的工作总结，并对今后倒立摆的下一步研究工作进行展望，为将来控制系统研究及实验开发提供一个有力的工具。
关键词： 直线一级倒立摆 PID算法 建模 实时仿真
毕业论文设计说明书（论文）外文摘要
Title the analong simulation design of an inverted pendulum
Abstract
Inverted pendulum system is a complex , nonlinear, unstable , and time-depengent high order system . Lots of control problems , such as linear problems , robustness problems , and the follow-up problems can be effectively reflected by the inverted pendulum system. Thus , the inverted pendulum system is an ideal laboratory equipment in the modern control theory .
This topic using Newton - Euler method modeling for the linear inverted pendulum and pendulum car and deriveds equation of state of the inverted pendulum system -level space output equation , derived its output functions. Then according to the given control performance requirements and transfer function model on matlab platform design linear inverted pendulum control system, device or controller gives the correct transfer function model . Inverted pendulum balance control partially achieved with PID algorithm. PID algorithm can be achieved through data collection, calculation and control the amount of output from the linear stage inverted pendulum swing of the pendulum and stability control , and can achieve the output data , the curve display.
Finally, a summary of the work done by the subject , and the inverted pendulum further research work carried Looking ahead, providing a powerful tool for future research and experimental development of control systems .
Keywords ： Linear inverted pendulum PID Modeling simulation
目 录
1.1引言 1
1.2课题的背景及意义 1
1.3 国内外研究现状 1
1.4论文结构安排 3
2 直线一级倒立摆系统数学模型的建立及系统分析 4
2.1引言 4
2.2倒立摆模型描述 4
2.3直线一级倒立摆系统数学模型的建立 5
3 单级倒立摆的MATLAB仿真 11
3.1MATLAB仿真软件介绍 11
3.1.1 MATLAB的概述与特点 11
3.1.2 Simulink的概述 11
3.2倒立摆PID控制器的设计 12
3.2.1 PID控制算法简介 12
比例控制器（P调节） 13
积分控制器（I调节） 13
微分控制器（D调节） 13
3.2.2 直线一级倒立摆的PID控制器设计 14
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