直线一级倒立摆小车控制系统分析与校正

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英文篇名：Analysis and correction of control system for a linear inverted pendulum car 作者：周明佳 ; 苗欣欣 ; 陈沐傈 英文作者：Zhou Mingjia;Miao Xinxin;Chen Muli;Northeast Forestry University; 关键词：直线一级倒立摆 ; PID控制 ; MATLAB 英文关键词：straight line inverted pendulum;;PID control;;MATLAB 中文刊名：WDZC 英文刊名：Electronic Test 机构：东北林业大学; 出版日期：2018-05-05 出版单位：电子测试 年：2018 期：No.390 语种：中文; 页：WDZC201809017 页数：3 CN：09 ISSN：11-3927/TN 分类号：45-47

摘要

倒立摆是多变量、不稳定、复杂的非线性系统,是进行控制理论研究的典型实验平台。实际中经常采用倒立摆系统来考察复杂系统的性能。本文首先将直线倒立摆抽象为简单的模型便于受力分析进行机理建模,通过牛顿力学原理分析得出相应的模型,进行拉氏变换带入相应参数得到系统的传递函数,进而利用PID控制对其系统进行校正,通过MATLAB的仿真建模,进一步优化了系统模型。
        Inverted pendulum is a multivariable, unstable and complex nonlinear system? It is a typical experimental platform for control theory research? In fact, inverted pendulum system is often used to inspect the performance of complex system? In this paper, the linear inverted pendulum is abstracted as a simple model to facilitate the mechanism modeling of force analysis, and the corresponding model is obtained through the theory of Newtonian mechanics? The transfer function of the system is obtained by the Lagrangian transformation into the corresponding parameters, and then the system is corrected by the PID control, and the simulation modeling of the MATLAB is carried out? The system model is optimized step by step?

引文

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