基于一阶倒立摆的matlab仿真实验.docx

基于一阶倒立摆的matlab仿真实验

第一篇：基于一阶倒立摆的matlab仿真实验成都理工大学工程技术学院基于一阶倒立摆的matlab仿真实验实验人员:--------------学号：-----------------实验日期：20150618摘要本文主要研究的是一级倒立摆的控制问题，并对其参数进行了优化。倒立摆是典型的快速、多变量、非线性、强耦合、自然不稳定系统。由于在实际中有很多这样的系统，因此对它的研究在理论上和方法论上均有深远的意义。本文首先简单的介绍了一下倒立摆以及倒立摆的控制方法，并对其参数优化算法做了分类介绍。然后，介绍了本文选用的优化参数的状态空间极点的配置和PID控制。接着建立了一级倒立摆的数学模型，并求出其状态空间描述。本文着重讲述的是利用状态空间中极点配置实现方法。最后，用Simulink对系统进行了仿真，得出在实际控制中是两种比较好的控制方法。AbstractThispapermainlystudiestheleveloftheinvertedpendulumcontrolproblem,anditsparametersareoptimized.Invertedpendulumisatypicalrapid,multi-variable,nonlinear,strongcoupling,naturalunstablesystem.Inpractice,however,becausetherearealotofsuchasystem,sothestudyofitintheoryandmethodologyhaveprofoundsignificance.Thisarticlefirstintroducedtheinvertedpendulum,andsimpleoftheinvertedpendulumcontrolmethod,madeaclassificationandtheparameteroptimizationalgorithmisintroduced.Andthen,introducedinthispaper,choosetheoptimizationoftheparametersofstatespacepoleconfigurationandPIDcontrol.Thensetupthelevelofthemathematicalmodelofinvertedpendulum,andfindoutthestatespacedescription.Thispaperfocusesonthepoleassignmentmethodistheuseofstatespace.Finally,thesystemaresimulatedusingSimulink,itisconcludedthatintheactualcontrolistwogoodcontrolmethod.Thispapermainlystudiestheleveloftheinvertedpendulumcontrolproblem,anditsparametersareoptimized.Invertedpendulumisatypicalrapid,multi-variable,nonlinear,strongcoupling,naturalunstablesystem.Inpractice,however,becausetherearealotofsuchasystem,sothestudyofitintheoryandmethodologyhaveprofoundsignificance.Thisarticlefirstintroducedtheinvertedpendulum,andsimpleoftheinvertedpendulumcontrolmethod,madeaclassificationandtheparameteroptimizationalgorithmisintroduced.Andthen,introducedinthispaper,choosetheoptimizationoftheparametersofstatespacepoleconfigurationandPIDcontrol.Thensetupthelevelofthemathematicalmodelofinvertedpendulum,andfindoutthestatespacedescription.Thispaperfocusesonthepoleassignmentmethodistheuseofstatespace.Finally,thesystemaresimulatedusingSimulink,itisconcl