倒立摆控制系统设计.doc

毕 业 设 计 倒立摆控制系统设计 学生姓名： 专业班级： 自动化2012级1班 指导教师： 教授 工程师 学 院： 机电工程学院 2016年6月 倒立摆控制系统设计 摘要 倒立摆是一种复杂、时变、非线性、强耦合、自然不稳定的高阶系统，许多抽象的控制理论概念都可以通过倒立摆实验直观的表现出来文对单级倒立摆系统的平衡控制问题进行了研究分别采用根轨迹法、、三种实现了单级倒立摆系统的平衡控制。 就针对直线单级倒立摆系统摆杆的平衡控制应用P1D根轨迹法设计控制器针对摆杆的平衡和小车位置的控制器，然后进入在线实时控制，根据实际控制效果调整控制器参数。将所设计的控制器分别在实际的物理设备上进行实时控制实验都成功地实现了倒立摆的平衡控制。 Design of inverted pendulum control system Abstract Inverted pendulum is a complex, time-varying, nonlinear, strong coupling, natural instability of high order systems, many of the abstract control theory can be shown through the inverted pendulum experiment. In this paper, the balance control of single inverted pendulum system is studied, and the balance control of single stage inverted pendulum system is achieved by using the three methods, root locus method, PID method and frequency domain method. The actual writing and operation, such as the linear single inverted pendulum mathematical model is established, through the simulation of the root locus diagram of the original system is not stable, need to design the corresponding controller for correction. Three correction methods are the use of MATLAB through the man-machine interface, to complete the off-line simulation, then the Simulink graphical as front control based on RTW real-time control, online parameter adjustment is for linear single inverted pendulum system pendulum pole balancing control P1D method is applied, by the root locus method in order to determine the proportion, integral and differential parameters simulation; the use of root locus method controller design and frequency domain method of design for the pendulum rod balance and the cart position controller, and then enter the online real-time control, according to the actual control effect to tune the parameters of the controller. The designed controller is implemented in real time control experiments on the actual physical equipment, and the balance control of the inverted pendulum is successfully achieved. Keywords　Inve