直线一级倒立摆系统的PID控制策略研究.docVIP

摘 要 直线一级倒立摆系统是一个典型的快速、多变量、非线性、不稳定系统，对一级倒立摆的控制研究，在理论上和方法上都有比较重要的意义。 本文以直线一级倒立摆系统为研究对象，主要研究其PID控制策略，调整PID控制三个参数，达到预期效果，并将控制过程在MATLAB上仿真。 本文首先概述了直线一级倒立摆的有关知识；介绍了直线一级倒立摆系统组成结构，对直线一级倒立摆模型进行数学建模；对应推出的数学模型，设计了相应的PID控制器；以MATLAB为基础，调整PID参数，做了大量的仿真研究，比较了各参数的仿真效果，来控制摆杆的摆角和稳定时间，达到预期效果；最后作出结论，对更进一步研究作一些展望。 关键词：一级倒立摆，PID，MATLAB仿真 Abstract Inverted pendulum system is a typical rapid, multivariate, nonlinear, unstable system, the control of inverted pendulum, both in theory and in method has practical and far-reaching significance. This paper first Outlines research status of inverted pendulum system; Introduce inverted pendulum system hardware composition of single level inverted pendulum, modeling and analysis model and its stability; Several research inverted pendulum system control strategy, the corresponding PID controller are designed respectively based on MATLAB, and did a lot of the simulation research of control method, compares the effect，adjusts the PID parameters to achieve expected controlling objective; finally makes a conclusion, and makes some prospects to further study. Keywords: Inverse Pendulum System, PID, MATLAB Simulink II