[工学]倒立摆系统控制的研究.doc

摘 要 倒立摆是一个典型的快速、多变量、非线性、绝对不稳定系统。通过它能有效地反映控制过程中诸如可镇定性、鲁棒性、随动性以及跟踪等多种关键问题，是检验各种控制理论的理想模型。因此，对倒立摆系统的稳定性研究在理论上和方法上具有深远的意义。对倒立摆的研究可以归结对非线性、多变量、不稳定系统的研究。在应用上，倒立摆广泛应用于控制理论研究、航空航天控制、机器人等领域，在自动化领域中具有重要的价值。另外，由于此装置成本低廉，结构简单，便于用模拟、数字等不同方式控制，在控制理论教学和科研中也有很多应用。对其的稳定控制是控制界一个极具挑战性的难题。 本文首先叙述了对倒立摆系统稳定性研究的意义，综述了倒立摆的研究现状，并介绍了当前已有的稳定倒立摆的各种控制方法。 本文建立了一级、二级倒立摆的数学模型，分析了系统的能控性和能观测性采用经典控制理论对单级倒立摆的控制研究。 倒立摆；数学； Abstract Inverted pendulum is a typical lmodel of multi-variable,nonlinear,essentially unsteady system.During the control process,pendulum can effectively reflect many pivotal problems such as equanimity,robust,follow-up and track.Therefore,it is a perfect model used to testing various control theories.and researching stability of inverted Pendulum system has the profound meaning in theory and methodology.The research on inverted pendulum can be diverted to the research on nonlinear,multi-variable and unsteady system.And in application many equipments such as aviation,robots cannot do without it.The inverted pendulum plant is in common use in control theory teaching and research as it is also so cheap and easy to get.So it is amusing valuable for a senior student to do research on this subject.The stabilization control of inverted pendulum system is a primary challenge for the researchers in the controlling field because of the difficulty of the problem. In this dissertation，first of all，analyze the meaning of researching the inverted pendulum system,give a summary on the research actuality of inverted pendulum,and introduce many control ways on making inverted pendulum system steady. In this paper,we establish mathematical models of single,double inverted pendulum system,and analyze the controllability and observability of these models.We do research on the stabilization control of a single inverted pendulum system by means of classical control theory and modern control theory. Key words：Inverted Pendulum; thematical models;Simulation 目 录 摘 要 I Abstract II 1 绪论 1 1.1课题研究的背景和意义 1