倒立摆课设

I综合课程设计倒立摆系统院（系、部）：信息工程学院姓名：马妍(鲁莹沈玉欣)学号：120690120688120691年级：三年级专业：测控技术与仪器任课教师：盛沙II摘要倒立摆控制系统是一个复杂的、不稳定的、非线性系统，是进行控制理论教学及开展各种控制实验的理想实验平台。所谓倒立摆，就是让摆处于倒置不稳定的状态，需要人为不停地控制使其处于倒置的动态平衡的一种特殊的摆。倒立摆系统可以抽象的看作是一种重心在上，而支点在下的控制问题，在没有外力干涉其状态的情况下，倒立摆系统和容易且很快就能发生复杂，不可预知的变化。因此，在相关研究领域，倒立摆是机器人技术、控制理论和计算机控制等多方面有机结合，其控制系统更是一种非常复杂的快速、多变量、非线性、强耦合、自然不稳定系统。本次课设会采用PID控制等方法，进行仿真，实现稳定控制。关键词：倒立摆，建模，PID控制，仿真，稳定性Thecontrolofinvertedpendulumsystemisacomplicatednonline-ar,unstable,system,iscontroltheoryteachingandcarryoutanidealexperimentalplatformofvariouscontrolexperiments.Theso-calledinvertedpendulum,istoletthependulumininvertedunstablestate,takesaspecialkindofpendulumartificiallykeptcontrolmakeitinadynamicbalanceofinversion.Theinvertedpendulumsystemcanbeabstractedasafocusonthefulcrum,andcontrolproblemsinthenext,withoutinterferinginitsstateofexternalforces,theinvertedpendulumsystemandeasilyandcanoccurveryquicklycomplex,unpredictablechanges.Therefore,intherelevantfieldofstudy,theinvertedpendulumisrobotcontroltechnology,theorganiccombinationoftheoryandcomputercontrolandotheraspects,thecontrolsystemisaverycomplexfast,multivariable,nonlinear,strongcou-pling,naturallyunstablesystem.TheclassislocatedwilladoptPIDcon-trolmethod,simulation,realizestablecontrol.Keywords:invertedpendulum,modeling,PIDcontrol,simulation,stabilityIII目录引言..................................................................................................................错误!未定义书签。第一章整体方案设计阐述...............................................................................错误!未定义书签。1.1需求...................................................................................................错误!未定义书签。1.2目标...................................................................................................错误!未定义书签。1.3概念设计...........................................................................................错误!未定义书签。1.4整体开发方案设计............................................................................错误!未定义书签。1.5评估...................................................................................................错误!未定义书签。第二章系统设计..............................................................................................错误!未定义书签。2.1功能分析...........................................................................................错误!未定义书签。2.1.1被控对象..................................................................................错误!未定义书签。2.1.2传感器......................................................................................错误!未定义书签。2.1.3电控箱.......................................................................................错误!未定义书签。2.1.4执行机构...................................................................................错误!未定义书签。2.2设计规范和约束................................................................................错误!未定义书签。2.3详细设计...........................................................................................错误!未定义书签。2.3.1原料清单...................................................................................错误!未定义书签。2.3.2设计原型...................................................................................错误!未定义书签。2.3.3产品分析...................................................................................错误!未定义书签。2.4机械系统设计....................................................................................错误!未定义书签。2.4.1机械系统分析...........................................................................错误!未定义书签。2.4.2传感器检测及其接口电路设计................................................错误!未定义书签。第三章理论分析..............................................................................................错误!未定义书签。3.1控制系统建模...................................................................................错误!未定义书签。3.2原控制系统稳定性分析....................................................................错误!未定义书签。3.2.1待校正系统单位阶跃响应........................................................错误!未定义书签。3.2.2根轨迹分析...............................................................................错误!未定义书签。3.2.3频域分析...................................................................................错误!未定义书签。3.3频域响应法设计倒立摆控制器........................................................错误!未定义书签。3.3.1相位超前控制器.......................................................................错误!未定义书签。3.3.2相位滞后控制器.......................................................................错误!未定义书签。3.3.3滞后—超前控制器....................................................................错误!未定义书签。3.3.4Simulink仿真...........................................................................错误!未定义书签。3.4.小结..................................................................................................错误!未定义书签。3.5PID控制器设计..............................................................................错误!未定义书签。3.5.1理论分析PID...........................................................................错误!未定义书签。3.5.2参数扫描法..............................................................................错误!未定义书签。第四章元器件、设备选型.................................................................