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论 文 题 目： 单级倒立摆的智能控制及GUI动画演示 姓 名： XX 系 别： 机电工程系 专 业： 电气工程及其自动化 班 级 、 学 号： 指 导 教 师： xxx
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摘 要
倒立摆系统是一个典型的快速、多变量、非线性、动态系统，对于倒立摆的控制研究无论在理论上和方法上都有深远的意义。
本文主要研究内容是：首先概述自动控制的发展和倒立摆系统研究的现状；介绍倒立摆系统硬件组成，对单级倒立摆模型进行建模，并分析其稳定性如何构成；研究倒立摆系统的几种控制方式，并设计出对应的控制器，以MATLAB软件为平台为，经行大量的模拟仿真实验，对不同控制方法的效果及优缺点作出总结；利用MATLAB软件中的GUI组件设计出模拟的倒立摆系统演示系统，让大家能直观的了解控制方法的作用。
关键词：倒立摆， PID控制器， MATLAB，GUI
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Abstract
Inverted Pendulum System is a typical multivariable, nonlinear, fast, dynamic system.On inverted pendulum control both in theory and methodology will have far-reaching significance.
The main research content of this article : Roughly describe the current situation of research of automatic control and Inverted Pendulum System, introduce the hardware components of Inverted Pendulum System, model the Single Inverted Pendulum System and analyze the formation of the stability. Research on several types of Inverted Pendulum System controlling, and design the dedicated controller for corresponding type. Based on mass test result on Malatb platform, summarize the advantages and disadvantages of different type of controlling. Using the GUI component of Malatb Software design the mimetic demo system of Inverted Pendulum System. In order to let everyone can intuitive understand the role of control method.
Keywords: Inverted Pendulum, PIDController , Malatb , GUI
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目 录
摘 要 ................................................................................................. I Abstract .............................................................................................. II 1 绪论 ................................................................................................. 1
1.1 课题研究背景及意义............................................................................. 1 1.2 倒立摆系统介绍及其研究意义............................................................. 1 1.3 本论文的主要工作................................................................................. 2
2 单级倒立摆的数学模型 ................................................................ 3
2.1 模型的推导原理..................................................................................... 3 2.2单级倒立摆系统描述.............................................................................. 3 2.3 单级倒立摆系统数学建模..................................................................... 4 2.4 本章小结................................................................................................. 5
3 最优控制方法设计 ........................................................................ 6
3.1 最优控制概述......................................................................................... 6 3.2 最优控制器的设计................................................................................. 7 3.3 最优控制MATLAB仿真 .................................................................... 10 3.4 本章小结............................................................................................... 14
4 单级倒立摆的PID控制系统设计 .............................................. 16
4.1 PID控制概述 ........................................................................................ 16 4.2 PID控制系统设计的原理 .................................................................... 17 4.3 摆杆角度控制....................................................................................... 18 4.4 小车位置控制....................................................................................... 19 4.5 PID控制算法的MATLAB仿真 .......................................................... 20 4.6 本章小结............................................................................................... 24
5 基于GUI的倒立摆LQR控制动画演示 ................................... 25
5.1 GUI介绍 ............................................................................................... 25
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5.2 演示程序的构成................................................................................... 25 5.3 主程序的实现....................................................................................... 25 5.4 演示界面的设计................................................................................... 26 5.5 演示过程............................................................................................... 27 5.6本章小结................................................................................................ 28
6 结论 ............................................................................................... 29 致 谢 ................................................................................................. 30 参考文献........................................................................................... 31 附录 ................................................................................................... 33
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