摘要倒立摆作为一个典型的自动控制系统，其快速性、多变量、非线性和不稳定等诸多的特点，使他成为了自动控制专家的研究热点。本文的主要实验对象为倒立摆中最为简单的一级倒立摆系统，重点研究PID控制器对一级倒立摆的控制。按照要求设计出PID控制器，并在MATLAB中对系统进行仿真分析。75051

本文的研究重点是对一级倒立摆系统的PID控制器参数的整定和分析。根据一级倒立摆系统的特性建立数学模型，介绍PID原理与整定方法。根据建立好的模型设计PID控制器，对其参数进行多种方法的整定与分析。最后对各个整定方法用MATLAB进行仿真。

    论文中有图24篇，表3个，参考文献共20篇。

毕业论文关键词：一级倒立摆  PID控制器  参数整定  MATLAB仿真

Research on PID Controller of An Inverted Pendulum System

Abstract Inverted pendulum, as a typical automatic control system, its fast, multi variable, nonlinear and unstable, and many other features, so that he became the research focus of these automatic control experts。 The main experiment object of this paper is the most simple inverted pendulum system, which mainly studies the control of the inverted pendulum by PID controller。 In accordance with the requirements of the design of the PID controller, and the system in MATLAB simulation analysis。The research focus of this paper is to adjust the parameters of the PID controller for an inverted pendulum system。 According to the characteristics of an inverted pendulum system, the mathematical model is established, and the PID principle and setting method are introduced。 According to the established model, the PID controller is designed, and the parameters of the controller are determined by several methods。 Through analysis and comparison of the effects of several methods, the advantages and disadvantages of the method are analyzed and compared。 At last, the MATLAB is used to simulate the different setting methods。

There are 24 figures, 3 tables and 20 references in this paper。

Key words: Inverted pendulum  PID controller  Parameters tuning  MATLAB simulation

目  录

摘   要 I

Abstract II

目  录 III

图清单 IV

表清单 IV

1绪论 1

  1。1  研究背景及意义 1

  1。2  研究现状 2

  1。3  本文主要工作 2

2一级倒立摆系统数学模型的建立 3

  2。1  倒立摆类型与特性 3

  2。2  一级倒立摆系统模型的建立 4

3倒立摆系统的PID控制器 8

  3。1  PID控制理论介绍 8

  3。2  PID控制器参数整定方法 11

4一级倒立摆系统PID控制器参数整定与仿真 15

  4。1  仿真系统建立 15

  4。2  一级倒立摆系统的PID控制器参数整定 16

5  总结 25

参考文献 26

致  谢