题目：倒立摆控制系统设计.docVIP

题目： 倒立摆控制系统设计 院（系） 　　信息科学与工程学院 　 专 业 　　　 自 动 化 　　 届 别 　　　 2011 届　 　　 学 号 　　　 0715321025 　 　 姓 名 　　 　李 冰　 　　 指导老师 李平（讲师） 金福江(教授) 华侨大学教务处印制 2011年5 月 摘 要 倒立摆是一种典型的快速、非线性、不稳定系统，一直是控制理论中的研究热点。本文主要研究一阶倒立摆在MATLAB环境下的PID控制仿真和GUI模块下的动画制作。 本文采用牛顿-欧拉方法建立单级倒立摆的数学模型，利用已设定的单级倒立摆参数，计算出其传递函数。在倒立摆的数学模型和传递函数的基础上，利用MATLAB中的Simulink仿真工具对单级倒立摆的单回路及双回路PID控制进行仿真分析，在仿真中采用工程整定方法中的临界比例法整定出合理的PID控制参数，单回路PID控制方案能满足对摆杆角度的控制，而对小车位置没有进行控制，得出系统最终不能达到稳定的结论；而以摆角为内环，小车位移为外环的双回路的PID控制能稳定的控制摆杆的角度和小车的位移，单级倒立摆系统能达到稳定的控制。 关键词：倒立摆,建模,PID控制,仿真，MATLAB ABSTRACT Inverted pendulum is a kind of typical model of fast, multivariable, nonlinearity, absolutely unstable system, which has been a research focus in the control theory all the time. This paper studies first-order inverted pendulum in the MATLAB environment PID control simulation and the GUI module animation under. This text using the mathematical model which Newton established single inverted pendulum, make use of the linearization and fall step processing to the precise model nearby the work-point, using the parameters of googol’s single inverted pendulum, calculates its transferred functions. The article has simply introduced the PID controller and the Simulink’s characteristic of simulation tool of MATLAB. And using the theoretical analysis of the PID control based on the mathematical model, using the Simulink carried on the simulation analysis of the single inverted pendulum’s single loop and double loop PID controller, dollater reasonable PID controlled parameters in simulation, the PID controlled plans of the single loop can satisfied to the control of the angle of pendulum rod, but not to the control of the position of car, obtained the conclusion that the system finally not to be able to achieve the stability; but take the angle of the pendulum as the inner-loop, take the displacement of the small car as the