论文定稿(一级倒立摆系统PID控制器设计)

南京工程学院康尼学院本科毕业设计（论文）题目：一级倒立摆系统PID控制器设计专业：自动化班级：K自动化101学号：240101124学生姓名：陆翔指导教师：汤玉东副教授起迄日期：2014.2～2014.6设计地点：工程中心GraduationDesign(Thesis)SystemdesignofPIDcontrollerofaninvertedpendulumByLUXiangSupervisedbyAssociateProf.TangYuDongSchoolofAutomationNanjingInstituteofTechnologyJune,2014南京工程学院康尼学院本科毕业设计（论文）I摘要倒立摆系统是个典型的系统，其具有快速性、多变量、非线性和不稳定等特点，对倒立摆的控制，在理论上和方法上都具有非常重要的意义。本论文主要是以直线一级倒立摆系统平台作为设计对象，重点在于研究PID控制器对一级倒立摆的控制。设计出符合要求的PID控制器，并在MATLAB软件上对控制过程进行仿真分析。本论文主要内容是:首先大体介绍自动控制的发展和倒立摆系统的研究现状；介绍了倒立摆系统的组成，对倒立摆系统进行建模；概述PID控制器并设计双回路PID控制器，以MATLAB软件为基础，进行多组仿真分析，与单回路PID控制系统比较，分析双回路PID控制系统的可行性，通过突加干扰分析其抗扰性，通过改变摆杆质量和长度分析其鲁棒性，并进行实物调试。对论文进行总结，为接下来的研究前景做一些展望。关键词：一级倒立摆；PID；双回路；MATLAB仿真南京工程学院康尼学院本科毕业设计（论文）IIABSTRACTInvertedpendulumsystemisatypicalfast,multi-variable,non-linearandunstablesystem,rightinvertedpendulumcontrolbothintheoryandmethodologywillhavefar-reachingsignificance.Inthispaper,theoriginallaboratorytoalinearinvertedpendulumdeviceasaplatformfocusedonitsPIDcontrolmethod,designthePIDcontroller,thecontrolprocesswillbeinMATLABsimulation.Thispaperstudiesthecontentsare:anoverviewofthedevelopmentofautomaticcontrolandinvertedpendulumsystemstatus;Introducesthecompositionoftheinvertedpendulumsystemandthesingle-invertedpendulummodelmodeling;anoverviewofPIDcontrollerandthedesignofdoubleloopPIDcontroller,basedonMATLAB,havedonealotofsimulationstudy.AnalysedthefeasibilityanalysisofdoubleloopPIDcontrolsystembycomparingwithsingleloopPIDcontrolsystemandadjustmentofsuddenjamming,studyitsanti-interference;Analysedtherobustnessoftheinvertedpendulumsystembychangingthequalityandlengthofpendulumandphysicaldebugging.Tosumupthispaper,thenextstepforsomeresearchoutlook.Keywords：InversePendulumSystem;PID;Doubleloop;MATLABSimulink南京工程学院康尼学院本科毕业设计（论文）III目录第一章绪论.....................................................................................................................11.1引言.........................................................................................................................11.2选题意义.................................................................................................................11.3研究现状.................................................................................................................21.4本文的结构.............................................................................................................2第二章PID控制理论基础.........................................................................................42.1自动控制概念.........................................................................................................42.1.1开环控制.......................................................................................................42.1.2闭环控制.......................................................................................................42.2对控制系统的性能要求........................................................................................52.3典型环节................................................................................................................62.3.1比例环节.......................................................................................................62.3.2积分环节.......................................................................................................62.3.3微分环节.......................................................................................................72.4小结........................................................................................................................7第三章直线一级倒立摆系统及其数学建模........................................................83.1一级倒立摆的介绍.................................................................................................83.2倒立摆的特性.........................................................................................................83.3一级倒立摆系统模型的建立................................................................................83.3.1微分方程的推导...........................................................................................93.3.2传递函数.....................................................................................................103.3.3倒立摆的实际模型.....................................................................................113.4倒立摆系统性能分析..........................................................................................123.4.1阶跃响应性分析.......................................................................................123.4.2能控性和能观性分析...............................................................................133.5小结......................................................................................................................14第四章直线一级倒立摆系统控制器设计...........................................................154.1PID控制介绍.......................................................................................................154.2一级倒立摆PID控制器......................................................................................174.2.1PID控制结构..........................................................................