倒立摆的模糊控制系统设计_精品.docVIP

倒立摆的模糊控制系统设计 摘 要 倒立摆装置是一个绝对不稳定系统，具有高阶次、非线性、强耦合等特性，研究倒立摆控制能有效地反映控制中的许多问题。倒立摆研究具有重要的理论价值和应用价值。 理论上，由于倒立摆控制可以反映控制方法对高阶次、非线性、不稳定、强耦合系统的控制能力，所以很多控制方法的验证都是通过对倒立摆控制来实现的；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、杂技项杆表演等领域，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。 本文主要由以下几个部分，首先利用牛顿力学方法建立倒立摆系统数学模型，通过MATLAB仿真软件来确定了控制器的各个参数，并用MATLAB下的Simulink进行了仿真关键词： 倒立摆系统，，牛顿力学方法  Abstract As an absolute unstable controlled object，inverted pendulum is a high order, nonlinear, strong coupling plant．So it is a classic system that can reflect many problems which exist in control realm．Inverted pendulum is a very important plant both in theory and in application． In theory it may prove the ability of a new control technique when researchers tackle a high order, nonlinear, unstable, strong coupling 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 and valuable for a senior student to do research on this subject． There are several important parts in this paper．Firstly the single inverted pendulum system model is established based on Newtons mechanics theory．Then，the stability，controllability and observability of the system were analyzed. The result showed that the inverted pendulum system was unstable under open- loop stage，but it can be controlled and observed near the equilibrium point. The inverted pendulum system model established by Matlab/Simulink was introduced，the method of how to select the Q and R weighting matrix was discussed. Thirdly，the fuzzy control algorithm for the one- stage inverted pendulum system were researched，their Simulink models and fuzzy controller were designed，The controller is designed，afterwards the feedback vector is calculated by the Matlab software，based on which the author simulates the control system with the tool Simulink． Finally，compared with the inverted algorithm，t