倒立擺系統(tǒng)

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摘要
在利用傳統(tǒng)控制方法對(duì)倒立擺控制，相對(duì)于其他方法，狀態(tài)空間的方法是實(shí)踐的比較成功的。倒立擺系統(tǒng)是一個(gè)復(fù)雜的、非線性的、不穩(wěn)定的系統(tǒng)。倒立擺的鎮(zhèn)定控制是控制理論與應(yīng)用學(xué)科的一類典型問(wèn)題，引起了控制理論及應(yīng)用界的廣泛關(guān)注。本文從倒立擺的已有鎮(zhèn)定方法出發(fā)，系統(tǒng)分析了各種鎮(zhèn)定方法的的優(yōu)點(diǎn)和缺點(diǎn)，為了簡(jiǎn)單方便，利用狀態(tài)空間方法，經(jīng)實(shí)驗(yàn)仿真與實(shí)驗(yàn)驗(yàn)證實(shí)現(xiàn)了對(duì)倒立擺的穩(wěn)定控制，從而達(dá)到了較理想的性能指標(biāo)。

關(guān)鍵字：倒立擺系統(tǒng)，穩(wěn)定性，狀態(tài)空間，魯棒性，狀態(tài)反饋，輸出反饋 線性系統(tǒng)

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

目錄
前言…………………………………………………………………….
1．緒論…………………………………………………………………….
1-1 倒立擺的概述…………………………………………………..
1-2 倒立擺的幾種控制方法………………………………………..
1-3 本篇論文的基礎(chǔ)………………………………………………..
1-4 仿真驗(yàn)證軟件…………………………………………………..
2．倒立擺系統(tǒng)的數(shù)學(xué)建?！?br>2-1數(shù)學(xué)建?！?br>2-2傳遞函數(shù)……………………………………………………….
2-3狀態(tài)方程………………………………………………………
3. 模型特性分析及控制器的構(gòu)造…………………………
3-1定性…………………………………………………………..
3-2定量分析……………………………………………………..
3-3性能指標(biāo)………………………………………………………
3-4控制器…………………………………………………………
3-5控制器的基本特征…………………………………………….
4.控制器的驗(yàn)證………………………………………………
4-1仿真驗(yàn)證………………………………………………………
4-2實(shí)驗(yàn)平臺(tái)………………………………………………………
5.軟件程序與編譯………………………………………………
5-1軟件程序……………………………………………………..
5-2 編譯…………………………………………………………
總結(jié)………………………………………………………………
結(jié)束語(yǔ)………………………………………………………………
鳴謝語(yǔ)…………………………………………………………………
附錄一：源程序………………………………………………………..
附錄二：函數(shù)說(shuō)明…………………………………………………….
附錄三：操作說(shuō)明…………………………………………………….
參考文獻(xiàn)……………………………………………………………….

部分參考文獻(xiàn)

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