直线一级倒立摆的PID控制方法研究
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摘要
直线一级倒立摆控制系统是控制理论研究的典型实验平台之一,它具有非线性、不确定性和开环不稳定性等特点.首先对直线一级倒立摆系统进行分析,建立其数学模型;其次由系统的传递函数设计出该系统的PID控制器;然后通过MATLAB仿真软件中的M模块建立其该系统的PID控制器模型;最后通过调节合适的PID参数来控制直线一级倒立摆系统的平衡性,并通过其响应曲线来验证所提出的算法和模型的正确性.
The linear inverted pendulum control system is one of the typical experimental platforms for the control theory research. It is characterized by nonlinearity,uncertainty and open-loop instability. In this paper,the linear inverted pendulum system is analyzed first,and the mathematical model is established. The PID controller is designed by the transfer function of the system,and the PID controller model of the system is established by the M module in the MATLAB simulation software. Finally,the balance of the linear inverted pendulum system is controlled by adjusting the appropriate PID parameters,and the correctness of the proposed algorithm and model is verified by its response curves.
The linear inverted pendulum control system is one of the typical experimental platforms for the control theory research. It is characterized by nonlinearity,uncertainty and open-loop instability. In this paper,the linear inverted pendulum system is analyzed first,and the mathematical model is established. The PID controller is designed by the transfer function of the system,and the PID controller model of the system is established by the M module in the MATLAB simulation software. Finally,the balance of the linear inverted pendulum system is controlled by adjusting the appropriate PID parameters,and the correctness of the proposed algorithm and model is verified by its response curves.
引文
[1]唐小岚,邓焱,杜晓.基于Lab Windows/CVI的直线一级倒立摆系统PID控制[J].唐山师范学院学报,2017,39(2):62-64.
[2]王惠萍,孔庆忠.基于Matlab的直线一级倒立摆的PID控制研究[J].机械工程与自动化,2015,24(5):180-182.
[3]洪金文,刘丙友,王力超.基于改进型ADRC的一级直线倒立摆高精度控制[J].黑龙江工业学院学报,2018,18(12):70-75.
[4]裴月琳,李斌,王强.嵌入式组合控制直线一级倒立摆系统[J].现代电子技术,2012,35(1):143-145.
[5]魏胜男.一级直线倒立摆的模糊控制方法[D].太原:太原科技大学,2012.
[6]王惠萍,孔庆忠.直线一级倒立摆的数学建模和根轨迹控制[J].内蒙古工业大学学报,2015,34(1):20-24.
[7]梁春辉,冯雷,张欣.直线一级倒立摆控制策略研究及仿真分析[J].长春工程学院学报(自然科学版),2010,11(1):36-40.
[8]周明佳,苗欣欣,陈沐傈.直线一级倒立摆小车控制系统分析与校正[J].电子测试,2018,17(9):43-45.
[9] CHANG Y H,CHANG C W,TAO C W,et al. Fuzzy sliding-mode control for ball and beam system with fuzzy ant colony optimization[J]. Expert Systems with Applications,2012,39(3):3624-3633.
[10] OH S K,JANG H J,PEDRYCZ W. Optimized fuzzy PD cascade controller:a comparative analysis and design[J]. Simulation Modelling Practice and Theory,2010,19(1):181-195.
[11] MUSKINJA N,RIZNAR M. Optimized PID position control of a nonlinear system based on correlating the velocity with position error[J]. Mathematical Problems in Engineering,2015,2(10):312-320.
[12] SATHIYAVATHI S,KRISHNAMURTHY K. PID control of ball and beam system:a real time experimentation[J]. Journal of Scientific&Industrial Research,2013,72(8):481-484.
[13]李振兴.基于模糊自适应PID控制的汽车用锻压镁合金性能研究[J].热加工工艺,2019,48(5):166-169.
[14]段友祥,任辉,孙歧峰,等.基于异步优势执行器评价器的自适应PID控制[J].计算机测量与控制,2019,27(2):70-78.
[15]李雪梅,刘诗文,陈综艺,等.螺旋给料流量系统单神经PID控制及仿真研究[J].机械设计与制造,2019,23(3):187-190.
[16]闫时军,高强,侯远龙,等.某随动系统负载模拟器灰预测模糊PID控制[J].火炮发射与控制学报,2019,40(1):19-24.
[17]张兆东,徐小亮,杨杨,等.基于模糊PID控制策略的液压缸试验台加载系统设计[J].南京理工大学学报,2019,43(1):78-85.
[18]姚胜兴,彭楚武.基于比例切换变结构控制的倒立摆系统研究[J].武汉理工大学学报,2007,29(4):114-117.
[19]王瑶为,邢科新,马剑,等.直线一级倒立摆的自抗扰控制方法及实现[J].控制工程,2017,24(4):711-715.
[20]马燕,徐立军.状态观测器在直线一级倒立摆系统中的应用[J].山东工业技术,2015,23(12):269-271.
[21]固高科技(深圳)有限公司.直线一级倒立摆系统用户手册和实验指导书[Z].深圳:固高科技有限公司,2015.
[2]王惠萍,孔庆忠.基于Matlab的直线一级倒立摆的PID控制研究[J].机械工程与自动化,2015,24(5):180-182.
[3]洪金文,刘丙友,王力超.基于改进型ADRC的一级直线倒立摆高精度控制[J].黑龙江工业学院学报,2018,18(12):70-75.
[4]裴月琳,李斌,王强.嵌入式组合控制直线一级倒立摆系统[J].现代电子技术,2012,35(1):143-145.
[5]魏胜男.一级直线倒立摆的模糊控制方法[D].太原:太原科技大学,2012.
[6]王惠萍,孔庆忠.直线一级倒立摆的数学建模和根轨迹控制[J].内蒙古工业大学学报,2015,34(1):20-24.
[7]梁春辉,冯雷,张欣.直线一级倒立摆控制策略研究及仿真分析[J].长春工程学院学报(自然科学版),2010,11(1):36-40.
[8]周明佳,苗欣欣,陈沐傈.直线一级倒立摆小车控制系统分析与校正[J].电子测试,2018,17(9):43-45.
[9] CHANG Y H,CHANG C W,TAO C W,et al. Fuzzy sliding-mode control for ball and beam system with fuzzy ant colony optimization[J]. Expert Systems with Applications,2012,39(3):3624-3633.
[10] OH S K,JANG H J,PEDRYCZ W. Optimized fuzzy PD cascade controller:a comparative analysis and design[J]. Simulation Modelling Practice and Theory,2010,19(1):181-195.
[11] MUSKINJA N,RIZNAR M. Optimized PID position control of a nonlinear system based on correlating the velocity with position error[J]. Mathematical Problems in Engineering,2015,2(10):312-320.
[12] SATHIYAVATHI S,KRISHNAMURTHY K. PID control of ball and beam system:a real time experimentation[J]. Journal of Scientific&Industrial Research,2013,72(8):481-484.
[13]李振兴.基于模糊自适应PID控制的汽车用锻压镁合金性能研究[J].热加工工艺,2019,48(5):166-169.
[14]段友祥,任辉,孙歧峰,等.基于异步优势执行器评价器的自适应PID控制[J].计算机测量与控制,2019,27(2):70-78.
[15]李雪梅,刘诗文,陈综艺,等.螺旋给料流量系统单神经PID控制及仿真研究[J].机械设计与制造,2019,23(3):187-190.
[16]闫时军,高强,侯远龙,等.某随动系统负载模拟器灰预测模糊PID控制[J].火炮发射与控制学报,2019,40(1):19-24.
[17]张兆东,徐小亮,杨杨,等.基于模糊PID控制策略的液压缸试验台加载系统设计[J].南京理工大学学报,2019,43(1):78-85.
[18]姚胜兴,彭楚武.基于比例切换变结构控制的倒立摆系统研究[J].武汉理工大学学报,2007,29(4):114-117.
[19]王瑶为,邢科新,马剑,等.直线一级倒立摆的自抗扰控制方法及实现[J].控制工程,2017,24(4):711-715.
[20]马燕,徐立军.状态观测器在直线一级倒立摆系统中的应用[J].山东工业技术,2015,23(12):269-271.
[21]固高科技(深圳)有限公司.直线一级倒立摆系统用户手册和实验指导书[Z].深圳:固高科技有限公司,2015.