毕业论文 倒立摆系统.doc

倒立摆系统

全文51页 约20000字 论述翔实

摘要
在利用传统控制方法对倒立摆控制，相对于其他方法，状态空间的方法是实践的比较成功的。倒立摆系统是一个复杂的、非线性的、不稳定的系统。倒立摆的镇定控制是控制理论与应用学科的一类典型问题，引起了控制理论及应用界的广泛关注。本文从倒立摆的已有镇定方法出发，系统分析了各种镇定方法的的优点和缺点，为了简单方便，利用状态空间方法，经实验仿真与实验验证实现了对倒立摆的稳定控制，从而达到了较理想的性能指标。

关键字：倒立摆系统，稳定性，状态空间，鲁棒性，状态反馈，输出反馈 线性系统

Summary
Along with the development of the ages, the inverted pendulum are concerned the more and more the researcher's which extensive concern in modern theories of control.The inverted pendulum is the system, which is a complicated, the non-linear and unsteady system.By using of the tradition control method and putting the control to the inverted pendulum,compared to other method, the state space method in appearance is a fulfillment more successful.The inverted pendulum put composed control is extensive concern that a typical model to control the theories and apply the course problem, caused the control theories and apply.This text puts from the inverted pendulum of there has been the town settles the method sets out, the system analyzed each kind of the method of composedness with advantage and weakness, for the sake of simple and convenience, by using of the state space method, it was imitated by experiment true with experiment the verification realizes the stability that put controls to the inverted pendulum, which getting the ideal function index sign.
Key word:
The system of the inverted pendulum, stability, state space, Robust , state feedback, output feedback,linear system

目录
前言…………………………………………………………………….
1．绪论…………………………………………………………………….
1-1 倒立摆的概述…………………………………………………..
1-2 倒立摆的几种控制方法………………………………………..
1-3 本篇论文的基础………………………………………………..
1-4 仿真验证软件…………………………………………………..
2．倒立摆系统的数学建模……………………………
2-1数学建模………………………………………………………
2-2传递函数……………………………………………………….
2-3状态方程………………………………………………………
3. 模型特性分析及控制器的构造…………………………
3-1定性…………………………………………………………..
3-2定量分析……………………………………………………..
3-3性能指标………………………………………………………
3-4控制器…………………………………………………………
3-5控制器的基本特征…………………………………………….
4.控制器的验证………………………………………………
4-1仿真验证………………………………………………………
4-2实验平台………………………………………………………
5.软件程序与编译………………………………………………
5-1软件程序……………………………………………………..
5-2 编译…………………………………………………………
总结………………………………………………………………
结束语………………………………………………………………
鸣谢语…………………………………………………………………
附录一：源程序………………………………………………………..
附录二：函数说明…………………………………………………….
附录三：操作说明…………………………………………………….
参考文献……………………………………………………………….

部分参考文献

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[24]李俊芳，牛文兴，张振东，基于状态空间法的倒立摆系统稳定控制，天津理工学院学报 VOL.19 NO.2,2003.6
[25]吴楠，单级倒立摆系统角运动控制方案建模及仿真，系统仿真学报 VOL.15 NO.9 2003.9
P1333-1336
[26]牛月兰，冯巧玲等，二级倒立摆控制器的仿真与设计，计算机仿真 VOL.20 NO.9,2003
P137-139