倒立摆系统的建模及MATLAB仿真_曾志新.pdfVIP

倒立摆系统的建模及MAT LAB 仿真 华南理工大学机械工程学院(510640)　曾志新　邹海明　李伟光　周建辉 【】通过建立倒立摆系统的数学模型,应用状态反馈控制配置系统极点设计倒立摆系统的 控制器, 实现其状态反馈, 而使倒立摆系统稳定工作。之后通过MAT LAB 软件中Simulink 工具对倒立摆的运动进行计算机仿真,仿真结果表明,所设计方法可使系统稳定工作并具有良 好的动静态性能。 　倒立摆　建模　MATLAB 仿真 The Model Building of Inverted Pendulum System and Simulation under the MATLAB Enviroment Abstract 　The mathematical model of inverted pendulum system is built, and a controller is designed based on the pole placement method with full state feedback to make the inverted pendulum system w ork stably. Then computer simulation for the movement of inverted pendulum is done by the Simulink tool of the M AT- LAB software . The result of simulation show s that this method can make the system work stably and have good dynamic、static qualities. Therefore, it is effective. Keywords　inverted pendulum, model building, simulation under the MAT LAB environment :TP273　　:A 　　 1 、、 , 、, , 。 , MATLAB 。 、、 1　 。 1. 1　 ,。 1 ,, ,。, 。 , 。、、 (), 、, 。3 [3] ,、 。 。 。 [] [1] Lee Y. S. Manufacturing-drive geometric analysis and prototyping:An investigation of computational manufactu-r ing, Proc. of 1999 NS Design and Manufacturing Grantees Conference, 1999:230. [2] , , . . , 1998, 10(2):123-126. 3　 [3] ().S