一级倒立摆系统的状态反馈控制器的研究+MATLAB仿真

Abstract Inverted pendulum system is a typical multi variable nonlinear system.it has the instability and the strong coupling. its own unique characteristics make researchers in various fields see it as the ideal object of the system research and provide convenience for us in control in the field of research and practical engineering problems for cable.
First I made a brief introduction in inverted pendulum system research significance and purpose, and then the design of inverted pendulum controller will be given in detail. Firstly, the mathematical model of the inverted pendulum system is established, and the knowledge design controller is used to study the control theory.The PID control algorithm and state space method of pole assignment controller design for the inverted pendulum system. Finally, through the MATLAB software to design two controllers were simulation. Simulation results verify the effectiveness of the algorithm, also shows that by using state feedback control method to design method compared with traditional PID control has better control effect and can also control cart position and pendulum angle, to make up for the limitations of classical PID control. 源￥自%六:维;论-文'网=www.lwfree.cn
Keywords:  inverted pendulum  PID control  pole placement  MATLAB simulation

Abstract    II

1 绪论    1
1.1  倒立摆系统的研究意义及目的    1
1.2  本论文的主要工作    2
2 一级倒立摆系统建模    3
2.1  一级倒立摆系统的组成及工作原理    3
2.2  建立一级倒立摆系统的数学模型    3
2.3  一级倒立摆系统的性能分析    8
3 PID控制器的设计    10
3.1 PID控制简介    10
3.2 PID控制算法    11
3.3 PID的参数整定方法    13
4 状态反馈控制器的设计    19
4.1 状态反馈和输出反馈    19
4.2 极点配置理论    20
4.3 反馈矩阵的算法    21
4.4 一级倒立摆系统的状态反馈控制器设计    22
5 倒立摆控制系统的仿真    25
5.1  PID仿真    25
5.2  状态反馈控制仿真    28
6 结论    31

1 绪论
1.1  倒立摆系统的研究意义及目的

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