## MATLAB一级倒立摆的PID控制器的研究

Abstract
Inverted pendulum as a typical nonlinear system. It’s have the great importance to the study of nonlinear problems . Its findings can not only clear demonstration of many abstract control theory, reduce the difficulty of theoretical research, it may also be used to determine some of the existing control theory or method effectiveness research to improve the efficiency and accuracy of nonlinear problems, more can be widely used in the aerospace, marine and military technology, is the study of classical control theory model, the focus within the nonlinear control field. 源`自<六:维*论-文>网/www.lwfree.cn
This paper introduces the features and performance of PID controllers, and the critical proportional method, the decay curve method, several methods of fuzzy adaptive PID Parameters Tuning and so were not at the presentation. Then, in a straight line inverted pendulum system as the research object, the establishment of a system of equations of motion using the Lagrange method, and a series of linearization, Laplace transform processing systems resulting equations of motion to get the right system transfer function. Finally, select the appropriate system input and output variables, functional design with PID controller to adapt and adopt critical proportion, experience and trial and error method of fuzzy adaptive PID Parameters Tuning in MATLAB simulation software, simulation results comparison and analysis to the optimal control effect.
Key words  Single inverted pendulum  PID control  PID parameter tuning    MATLAB simulation

摘  要    I
Abstract    II
1  绪论    4
1.1 课题研究背景及意义    4
1.2 国内外研究现状    4
1.3 本论文的主要工作    5
2 一级倒立摆的概述    6
2.1 一级倒立摆的介绍及应用    6
2.2 一级倒立摆的模型    6
3 PID控制器的概述    10
3.1 PID控制器的控制原理及其特点    10
3.2 比例、积分、微分控制器的作用分析    11
3.3 PID控制器参数整定的概述    13
3.4 PID控制器参数整定的方法    13
4 一级倒立摆的PID控制器的设计及仿真    25 源`自<六:维*论-文>网/www.lwfree.cn