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基于一阶倒立摆的matlab仿真实验.doc
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基于一阶倒立摆的matlab仿真实验.doc
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成都理工大学工程技术学院
基于一阶倒立摆的
matlab
仿真实验
实验人员
: -------
-------
学 号:
--------
---------
实验日期:
20150618
摘要
本文主要研究的是一级倒立摆的控制问题,并对其参数进行了优化。倒立
摆是典型的快速、多变量、非线性、强耦合、自然不稳定系统。由于在实际中
有很多这样的系统,因此对它的研究在理论上和方法论上均有深远的意义。本
文首先简单的介绍了一下倒立摆以及倒立摆的控制方法,并对其参数优化算法
做了分类介绍。然后,介绍了本文选用的优化参数的状态空间极点的配置和
PID
控制。接着建立了一级倒立摆的数学模型,并求出其状态空间描述。本文
着重讲述的是利用状态空间中极点配置实现方法。最后,用
Simulink
对系统
进行了仿真,得出在实际控制中是两种比较好的控制方法。
Abstract
This paper mainly studies the level of the inverted
pendulum control problem, and its parameters are
optimized.Inverted pendulum is a typical rapid, multi-
variable, nonlinear, strong coupling, natural unstable
system.In practice, however, because there are a lot of such
a system, so the study of it in theory and methodology have
profound signicance.This article rst introduced the
inverted pendulum, and simple of the inverted pendulum
control method, made a classication and the parameter
optimization algorithm is introduced.And then, introduced in
this paper, choose the optimization of the parameters of
state space pole conguration and PID control.Then set up
the level of the mathematical model of inverted pendulum,
and nd out the state space description.This paper focuses
on the pole assignment method is the use of state
space.Finally, the system are simulated using Simulink, it is
concluded that in the actual control is two good control
method.This paper mainly studies the level of the inverted
pendulum control problem, and its parameters are
optimized.Inverted pendulum is a typical rapid, multi-
variable, nonlinear, strong coupling, natural unstable
system.In practice, however, because there are a lot of such
a system, so the study of it in theory and methodology have
profound signicance.This article rst introduced the
inverted pendulum, and simple of the inverted pendulum
control method, made a classication and the parameter
optimization algorithm is introduced.And then, introduced in
this paper, choose the optimization of the parameters of
state space pole conguration and PID control.Then set up
the level of the mathematical model of inverted pendulum,
and nd out the state space description.This paper focuses
on the pole assignment method is the use of state
space.Finally, the system are simulated using Simulink, it is
concluded that in the actual control is two good control
method.
目 录
成都理工大学工程技术学院.............................................................................................................1
基于一阶倒立摆的 matlab 仿真实验................................................................................................1
.....................................................................................................................................................2
实验人员: -------........................................................................................................................2
-------...........................................................................................................................................2
学 号:--------.............................................................................................................................2
---------........................................................................................................................................2
实验日期:20150618.................................................................................................................2
摘要.............................................................................................................................................3
1 引言..................................................................................................................................................5
1.1 倒立摆介绍以及应用...........................................................................................................5
1.2
倒立摆的控制方法
...............................................................................................................7
2
单级倒立摆数学模型的建立
..........................................................................................................7
2.1
传递函数
.............................................................................................................................11
2.2
状态空间方程
.....................................................................................................................12
3 系统 Matlab 仿真和开环响应.......................................................................................................13
系统开环稳定性分析.......................................................................................................................13
4
系统设计
........................................................................................................................................17
4.1 极点配置与控制器的设计.................................................................................................17
4.2 系统仿真:.........................................................................................................................18
4.3 仿真结果.............................................................................................................................19
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