文档详情

论文定稿一级倒立摆系统PID控制器设计.doc

发布:2017-04-23约2.53万字共52页下载文档
文本预览下载声明
PAGE  南京工程学院 康尼学院 本科毕业设计(论文) 题目: 一级倒立摆系统PID控制器设计 专 业: 自动化 班 级: K自动化101 学 号:240101124 学生姓名: 陆 翔 指导教师: 汤玉东 副教授 起迄日期: 2014.2~2014.6 设计地点: 工程中心 PAGE  Graduation Design (Thesis) System design of PID controller of an inverted pendulum By LU Xiang Supervised by Associate Prof. Tang YuDong School of Automation Nanjing Institute of Technology June, 2014 南京工程学院康尼学院本科毕业设计(论文)  PAGE \* MERGEFORMAT  摘 要 倒立摆系统是个典型的系统,其具有快速性、多变量、非线性和不稳定等特点,对倒立摆的控制,在理论上和方法上都具有非常重要的意义。 本论文主要是以直线一级倒立摆系统平台作为设计对象,重点在于研究PID控制器对一级倒立摆的控制。设计出符合要求的PID控制器,并在MATLAB软件上对控制过程进行仿真分析。 本论文主要内容是:首先大体介绍自动控制的发展和倒立摆系统的研究现状;介绍了倒立摆系统的组成,对倒立摆系统进行建模;概述PID控制器并设计双回路PID控制器,以MATLAB软件为基础,进行多组仿真分析,与单回路PID控制系统比较,分析双回路PID控制系统的可行性,通过突加干扰分析其抗扰性,通过改变摆杆质量和长度分析其鲁棒性,并进行实物调试。对论文进行总结,为接下来的研究前景做一些展望。 关键词:一级倒立摆;PID;双回路;MATLAB仿真  PAGE \* MERGEFORMAT II ABSTRACT Inverted pendulum system is a typical fast,multi-variable,non-linear and unstable system,right inverted pendulum control both in theory and methodology will have far-reaching significance. In this paper,the original laboratory to a linear inverted pendulum device as a platform focused on its PID control method,design the PID controller,the control process will be in MATLAB simulation. This paper studies the contents are: an overview of the development of automatic control and inverted pendulum system status; Introduces the composition of the inverted pendulum system and the single-inverted pendulum model modeling; an overview of PID controller and the design of double loop PID controller,based on MATLAB,have done a lot of simulation study.Analysed the feasibility analysis of double loop PID control system by comparing with single loop PID control system and adjustment of sudden jamming,study its anti-interference;Analysed the robustness of the inverted pendulum system by changing the quality and length of pendulum and physical debugging.To sum up this paper,the
显示全部
相似文档