基于拟人智能控制方法的倒立.doc

摘要 倒立摆系统是一个自然不稳定体，在控制过程中能有效地反映控制中的许多关键问题，如镇定问题、非线性问题、鲁棒性问题、随动问题以及跟踪问题都可以以倒立摆为对象加以研究。除此之外，倒立摆的研究对于火箭飞行控制和机器人控制等现代高科技的研究具有重要的实践意义。因此对倒立摆的控制成为控制理论中经久不衰的研究课题。 本文首先阐述了倒立摆系统控制研究的发展过程和现状，其次分别采用牛顿力学方法和分析力学方法建立了一级倒立摆系统的数学模型，然后基于拟人智能控制理论，对单电机驱动下的在受限轨道上运动的小车—单摆系统进行控制算法的研究，最后设计实现了倒立摆拟人智能控制系统。在Matlab环境下的仿真结果表明，采用拟人智能控制方法，能有效地解决小车—倒立摆这一复杂被控对象的稳定控制问题。 关键词：小车—单摆系倒立摆稳定控制Matlab，拟人智能控制 Human-Imitating Intelligent Controlbased Research and Implementation for Inverted Pendulum Abstract Inverted pendulum system（IPS） is a natural body, in the control process can effectively reflect the control of many key issues, such as stabilization, nonlinear problems, robustness issues, with the move, as well as all issues can be tracked to the inverted pendulum for study object. In addition, the study of the inverted pendulum flight control for the rocket and robot control and other modern high-tech research has important practical significance. Therefore, the control of inverted pendulum control theory as a research topic of enduring. In this paper, the inverted pendulum on the control of the development process and the status quo, followed by the use of Newtons mechanics and analytical mechanics methods and the establishment of an inverted pendulum back to the mathematical model, and then to be based on intelligent control theory, under the single-motor drive orbit in the restricted movement of the car - simple pendulum system control algorithm, the final design of the inverted pendulum to the realization of intelligent control systems. Environment in the Matlab simulation results showed that the proposed intelligent control method can effectively solve the car - such a complex inverted pendulum control problem object. Keywords: Cart-pendulum System; Stabilizing Control; MATLAB; Human Simulating Intelligent Control 目录 摘要 I Abstract II 1绪论 1 1.1倒立摆系统简介 1 1.2倒立摆系统的研究意义 2 1.3倒立摆系统研究的现状 2 1.4本论文主要工作 5 2倒立摆系统物理模型和数学模型 6 2.1倒立摆系统的物理模型 6 2.2倒立摆系统建模 6 2.2.1直线一级倒立摆的牛顿－欧拉方法建模 7 2.2.2直线一级倒立摆的拉格朗日建模 9 3倒立