MATLAB一级倒立摆的PID控制器的研究
本文首先介绍了PID控制器特点及性能，并对临界比例度法、衰减曲线法、模糊自适应PID参数整定法等几种方法进行了处不介绍。继而，以直线一级倒立摆系统为研究对象，采用拉格朗日法建立系统的运动方程，并对所得的系统运动方程进行一系列的线性化、拉氏变换等处理，以取得合适的系统传递函数。最后选取合适的系统输入、输出变量，设计与之功能相适应的PID控制器，并采用临界比例度法、经验试凑法以及模糊自适应PID参数整定法在MATLAB软件中进行仿真，对仿真结果进行比较和分析，以到最优的控制效果。40942
毕业论文关键词 一级倒立摆 PID控制 PID参数整定 MATLAB仿真
Abstract
Inverted pendulum as a typical nonlinear system. It’s have the great importance to the study of nonlinear problems . Its findings can not only clear demonstration of many abstract control theory, reduce the difficulty of theoretical research, it may also be used to determine some of the existing control theory or method effectiveness research to improve the efficiency and accuracy of nonlinear problems, more can be widely used in the aerospace, marine and military technology, is the study of classical control theory model, the focus within the nonlinear control field.
This paper introduces the features and performance of PID controllers, and the critical proportional method, the decay curve method, several methods of fuzzy adaptive PID Parameters Tuning and so were not at the presentation. Then, in a straight line inverted pendulum system as the research object, the establishment of a system of equations of motion using the Lagrange method, and a series of linearization, Laplace transform processing systems resulting equations of motion to get the right system transfer function. Finally, select the appropriate system input and output variables, functional design with PID controller to adapt and adopt critical proportion, experience and trial and error method of fuzzy adaptive PID Parameters Tuning in MATLAB simulation software, simulation results comparison and analysis to the optimal control effect.
Key words Single inverted pendulum PID control PID parameter tuning MATLAB simulation
目 录
摘 要 I
Abstract II
1 绪论 4
1.1 课题研究背景及意义 4
1.2 国内外研究现状 4
1.3 本论文的主要工作 5
2 一级倒立摆的概述 6
2.1 一级倒立摆的介绍及应用 6
2.2 一级倒立摆的模型 6
3 PID控制器的概述 10
3.1 PID控制器的控制原理及其特点 10
3.2 比例、积分、微分控制器的作用分析 11
3.3 PID控制器参数整定的概述 13
3.4 PID控制器参数整定的方法 13
4 一级倒立摆的PID控制器的设计及仿真 25
4.1 一级倒立摆的Simulink模型及系统仿真 25
4.2仿真结果分析 33
5 总结与展望 35
致谢 36
[参考文献] 37