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| 折扣與優(yōu)惠：團(tuán)購(gòu)最低可5折優(yōu)惠 - 了解詳情 | 論文格式：Word格式(*.doc) |  |
摘要：倒立擺系統(tǒng)是一個(gè)典型的多變量、非線性、強(qiáng)耦合和快速運(yùn)動(dòng)的高階不穩(wěn)定系統(tǒng)，它是檢驗(yàn)各種新的控制理論和方法有效性的典型理想模型。在對(duì)其控制過(guò)程中，能有效地反映諸如鎮(zhèn)定性、魯棒性、隨動(dòng)性以及跟蹤等許多關(guān)鍵問(wèn)題。本文以固高科技生產(chǎn)的直線二級(jí)倒立擺為研究對(duì)象，推導(dǎo)建立了該倒立擺系統(tǒng)的數(shù)學(xué)模型，并對(duì)其系統(tǒng)性能進(jìn)行了分析。然后采用了PID控制方法和LQR(linear quadratic regulator）控制方法，對(duì)其系統(tǒng)進(jìn)行了穩(wěn)定性控制。仿真結(jié)果表明LQR比PID控制器的效果更好。并依據(jù)Q、R矩陣的物理意義以及多次試驗(yàn)的結(jié)果，給出了一組較好的Q、R參數(shù)矩陣。 關(guān)鍵詞：二級(jí)倒立擺；LQR控制；PID控制
Abstract:The inverted pendulum system is a typical advanced unstable system, which is multi-variable, nonlinear and strong-coupling with a rapid movement. It is an ideal model to test all theories about controlling and the validity of the method. In the controlling process, it can effectively reflect many key issues, such as stabilization, robust, follow-up and track,etc.. The thesis tries to derive and establish the mathematical model of this inverted pendulum system and analyze its properties in detail, regarding the high-tech double linear inverted pendulum as the research target. The system is controlled with stability based on the controlling methods of PID and LQR ( linear quadratic regulator ). The results show that LQR has a better effect than PID controller. According to Q, R matrix physical meaning and many experiments,a group of good Q, R parameter matrix will be given. Key words：Second-order inverted pendulum；LQR control；PID control
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