毕业设计（论文）-倒立摆控制器设计与仿真根轨迹_精品.doc

摘 要 倒立摆系统是一个非线性自然不稳定系统, 是进行控制理论教学及开展各种控制实验的理想实验平台。许多抽象的控制概念如控制系统的稳定性、可控性、系统收敛速度和系统抗干扰能力等，都可以通过倒立摆系统直观的表现出来。除教学用途外，倒立摆系统的高阶次、不稳定、多变量、非线性和强耦合等特性使得许多现代控制理论的研究人员一直将它视为研究对象。Abstract Inverted pendulum system is a nonlinear natural unstable system, it is an ideal experimental platform for control theory teaching and developing various control experiments. Many abstract control concept such as control system stability and controllable, system convergence speed and system anti-interference ability, can be intuitivly expressed through Inverted pendulum system. Except for teaching purpose, inverted pendulum system of high order times, instability, multivariable and nonlinear characteristics and strong coupling made many modern control theory researchers regard it as research object. Googol inverted pendulum system is the research object in this topic, by building Simulink nonlinear model and its linearization, then compared it with linear model approximated in mathematics method. Design determined parameters and stable system with the root locus method, and applied to the practical control, obtained the satisfying control effect of the controller about the angle of the pendulum. Finally the simulations in both linear and nonlinear models were performed in MATLAB/SIMULINK. This thesis encircled the single inverted pendulum system,and reviews research status of inverted pendulum system at home and abroad. By implementing the stability control of inverted pendulum, and master the basic ideas of control system design. Key Words Inverted pendulum MATLAB/Simulin Root locus method controller of angle of pendulum linearization 一、 绪论 （一） 课题研究的背景及意义 倒立摆的最初研究始于上世纪50年代，由美国麻省理工学院（MIT）的控制论专家根据火箭发射助推器的原理设计而来，随着研究的深入和实际问题的推动而不断发展至今，已发展出了三级摆和四级摆。这些研究成果具有重要的工程前景，在控制等领域中发挥了巨大的作用。 作为研究控制理论的一种非常典型的实验装置，倒立摆系统多抽象的控制概念如控制系统的稳定性、可控性、系统收敛速度和抗干扰能力等，都可通过倒立摆系统直观的表现出来。自然不稳定系统在自动控制领域中，倒立摆仿真或实物控制实验，已成为检验一新的控制理论是否有效的试金石，同时也是产生一新的控制方法必须依据的基础实验平台图1-1 电机轴和摆杆的位置信息分别通过光电码盘1和2反馈给伺服驱动器与运动控制卡，构成了一个闭环系