直线倒立摆的稳定控制算法设计论文[带图纸].doc -- 45 元

本科毕业设计论文题目直线倒立摆的稳定控制算法设计系别机电信息系专业机械设计制造及其自动化班级学生学号指导教师2013年5月I直线倒立摆的稳定控制算法设计摘要本文首先利用牛顿力学分析的方法和拉格朗日法建立了直线一级、二级、三级倒立摆实物系统的线性状态方程，并在此基础上分析了该系统是不稳定的，同时又是能控的和能观的。基于此本文设计了直线倒立摆系统的机械本体部分，研究了直线一级、二级、三级倒立摆系统的PID、LQR和状态空间极点配置控制算法，同时利用MATLAB/Simulink对各个算法进行分析，由仿真结果表明对于像倒立摆这样的非线性模型，通过对其数学模型的建立，设计相应的控制器,并对其实现控制是可行的。关键词直线倒立摆PIDLQR状态空间极点配置仿真IIThestabilityoflinearinvertedpendulumcontrolalgorithmdesignAbstractInthispaper，wefirstlyusetheNewtonmechanicsanalysismethodandtheLagrangemethodtoestablishthelinearlevel1，level2，level3invertedpendulumlinearstateequationofrealsystem.Inthemeantime，thesystemisunstablebyanalyzingthelinearstateequation，butitisalsocontrollableandobservable.Andthenwedescribeonthephysicalsystemofthelinearinvertedpendulum.Thispaperstudiedthelinearlevel1，level2，level3oftheinvertedpendulumsystemPID，LQRandstatespacepoleassignmentcontrolalgorithm，atthesametimeanalyzevariousalgorithmswithMATLAB/Simulink.BythesimulationresultsshowthatBesimilarytoinvertedpendulumisforthenonlinearmodel，throughitsmathematicalmodel，theappropriatedesignofcontroller，andinitsimplementationcontrolisfeasiblly.KeywordslinearinvertedpendulumPIDLQRstatespacepoleconfigurationsimulationIII目录1绪论..........................................................................................................................11.1前言......................................................................................................................11.2倒立摆系统研究背景及意义..............................................................................11.3国内外倒立摆控制研究发展及现状..................................................................21.4本文主要工作......................................................................................................42倒立摆机械系统设计及实现...........................................................................52.1倒立摆简介.........................................................................................................52.2倒立摆工作特性和工作原理.............................................................................52.2.1工作特性.......................................................................................................52.2.2系统工作原理...............................................................................................52.3系统机械结构设计..............................................................................................62.3.1底座设计.......................................................................................................62.3.2小车部分设计...............................................................................................62.3.3传动部分设计..............................................................................................72.3.4步进电机选择..............................................................................................73一级直线倒立摆系统的建模分析与仿真.................................................103.1一级倒立摆模型分析........................................................................................103.1.1系统可观可控性分析.................................................................................133.1.2系统阶跃响应分析.....................................................................................143.2一级直线倒立摆控制器设计与仿真................................................................153.2.1PID控制器设计及算法仿真......................................................................153.2.2LQR控制器设计及算法仿真....................................................................183.2.3状态空间极点配置控制设计及仿真.........................................................203.2.4小结.............................................................................................................224二级直线倒立摆系统的建模分析与仿真.................................................244.1二级倒立摆模型的分析....................................................................................244.1.1二级倒立摆稳定性分析.............................................................................294.1.2能控性能观性分析.....................................................................................294.2二级直线倒立摆控制器设计与仿真................................................................304.2.1LQR控制器设计及算法仿真.....................................................................304.2.2状态空间极点配置控制设计及仿真.........................................................314.2.3小结.............................................................................................................32IV5三级直线倒立摆系统建模分析与仿真......................................................345.1二级倒立摆模型分析........................................................................................345.1.1三级倒立摆稳定性分析.............................................................................395.1.2能控性能观性分析.....................................................................................395.2三级直线倒立摆控制器设计与仿真................................................................405.2.1LQR控制器设计及算法仿真.....................................................................405.2.2状态空间极点配置控制设计及仿真.........................................................415.2.3小结.............................................................................................................436总结与展望.........................................................................................................44参考文献...................................................................................................................45致谢............................................................................................................................46毕业设计（论文）知识产权声明......................................错误未定义书签。毕业设计（论文）独创性声明.........................................................................47附录............................................................................................................................48