陶海粟
四川理工学院毕业设计(论文)油酸酰胺
二级倒立摆系统建模与仿真
学 生:
学 号:
专 业:自动化
班 级:自动化
2012皮鞋很忙指导教师:
四川理工学院自动化与电子信息学院
二O一一年六月
摘 要
常规的PID控制从理论上可以控制二级倒立摆,但在实际中对PID控制器参数的整定为一难点。本文针对二级倒立摆系统单输入三输出的不稳定系统,通过三回路PID控制方案,来完成对倒立摆的控制。利用状态反馈极点配置的方法来对参数进行整定,解决PID参数整定的难点。然后借助于MATLAB中的Simulink模块对所得的参数进行仿真,结果表明三回路PID控制是成功的,参数的有效性,也证实了这种参数整定方法简单实用。并通过配置不同位置的极点,对其结果进行分析得到极点配置的最佳配置方案。 关键词:倒立摆;PID;状态反馈; MATLAB
拍拍烧
科学研究方法论
ABSTRACT
Double Inverted Pendulum System Modeling and Simulation
Conventional PID control theory to control the inverted pendulum, but in practice the parameters of PID controller tuning is a difficult. In this paper, double inverted pendulum system, the instability of single-input three-output system, through the three-loop PID control program to complete the inverted pendulum control.Pole placement using state feedback approach to setting the parameters to resolve the difficulties PID parameter tuning. With MATLAB and Simulink in the module parameters obtained from simulation results show that the three-loop PID control is successful, the effectiveness of the parameters, but also confirms this tuning method is simple and practical.Different locations through the pole configuration, the results were too extreme configuration of the best configuration.mpeg