科研训练-基于MATLAB的直线一级倒立摆仿真系统研究.docx

科研训练论文 ~ PAGE \* MERGEFORMAT35 ~ 科研训练结题报告 名称：基于MATLAB的直线一级倒立摆仿真系统研究小组成员: 指导教师：  关于一节倒立摆系统的研究，有着各种各样方式予以仿真并研讨，其中MATLAB进行研究成为越来越大众研究方式。 倒立摆控制系统是一个复杂的、不稳定的、? HYPERLINK /lemma/ShowInnerLink.htm?lemmaId\t /_blank 非线性系统。倒立摆的控制问题就是使摆杆尽快地达到一个平衡位置，并且使之没有大的振荡和过大的角度和速度。本次设计就是针对直线一级倒立摆系统进行研究。运用MATLAB中的Simulink仿真工具，建立起直线一级倒立摆系统的仿真模型，并对仿真模型进行封装及添加PID控制器，使最终的仿真——控制模型能够符合设计要求。 关键字 MATLAB软件；倒立摆系统；PID控制器；封装子系统  Title Research on simulation system of linear single inverted pendulum based on MATLAB Abstract The research on an inverted pendulum system has been simulated and studied in a variety of ways, among which, MATLAB has become an increasingly popular research method. Inverted pendulum control system is a complex, unstable, non - linear system. Inverted pendulum control problem is to make the pendulum as soon as possible to reach a balance position, and so there is no large oscillation and excessive angle and speed. This design is for a straight line inverted pendulum system for research. The simulation model of the inverted inverted pendulum is established by using the Simulink simulation tool in MATLAB. The simulation model is encapsulated and the PID controller is added to make the final simulation - control model meet the design requirements. Keywords MATLAB software; inverted pendulum system; PID controller; package subsystem  TOC \o 1-3 \h \u  HYPERLINK \l _Toc10484 1.直线一级倒立摆问题简介  PAGEREF _Toc10484 6  HYPERLINK \l _Toc19474 1.1背景简介【1】  PAGEREF _Toc19474 6  HYPERLINK \l _Toc12951 1.2软件特性  PAGEREF _Toc12951 6  HYPERLINK \l _Toc1889 1.3设计要求分析  PAGEREF _Toc1889 6  HYPERLINK \l _Toc18474 2. 数学模型的建立  PAGEREF _Toc18474 7  HYPERLINK \l _Toc32713 2.1 倒立摆受力分析  PAGEREF _Toc32713 7  HYPERLINK \l _Toc1194 2.2 微分方程的推导  PAGEREF _Toc1194 8  HYPERLINK \l _Toc26039 3.Simulink仿真模型  PAGEREF _Toc26039 9  HYPERLINK \l _Toc23217 3.1 Simulink仿真简介【2】  PAGEREF _Toc23217 9  HYPERLINK \l _Toc15