河南理工大学毕业设计(论文)说明书
摘_ 要
倒立摆系统是一个典型的多变量、非线性、强耦合和快速运动的高阶不稳定系统,它是检验各种新型控制理论和方法有效性的典型装置。近年来,许多学者对倒立摆系统进行广泛地研究。____________________
__ 本文研究了直线二级倒立摆的控制问题。首先阐述了倒立摆系统控制的研究发展过程和现状,接着介绍了倒立摆系统的结构并详细推导了二级倒立摆的数学模型。本文分别用极点配置、LQR最优控制设计了不同的控制器,通过比较和MATLAB仿真,验证了所设计的控制器的有效性、稳定性和抗干扰性。
关键词: 倒立摆; 极点配置; 最优控制; MATLAB; 仿真
ABSTRACT
Inverted pendulum is a typical multi-variable, non-linear, strong coupling and rapid movement of high-end system instability, It is testing various new control theory and methods of the effectiveness of the typical devices. In recent years, many scholars of the inverted pendulum extensive study.
In this paper, a straight two inverted pendulum control problem.First on the inverted pendulum control of the development process and the status quo, then introduced the inverted pendulum system and the detailed structure of the two inverted pendulum is derived a mathematical model. In this paper, with pole placement, LQR optimal control design a different controller, By comparing and MATLAB simulation, verified the effectiveness ,stability and anti-jamming of the controller.
Key words:Inverted pendulum;Pole Assignment; Optimal Control;MATLAB; Simulation
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摘_ 要_____________ 1