【作者】 梁莉敏；

【导师】 尹平林；

【作者基本信息】 华中科技大学 ， 控制理论与控制工程， 2004， 硕士

【摘要】 随着现代科学技术的飞速发展,控制理论及技术越来越重要,控制技术广泛应用于冶金、石化、机械、食品、制药、航空航天及军事系统等领域。为了进一步加深控制理论和技术的研究,并且使其与实际相结合,应用于实际系统中,控制理论与系统实验中心引进了一批国内外先进的实验教学仪器设备。其中双旋翼多输入多输出系统是为控制实验设计的实验装置。从控制的观点看,它是一个具有强耦合的高阶非线性复杂系统。通过对该系统建模、设计与仿真,可以推动和加深控制理论和技术在复杂控制系统中的应用研究。本文首先建立了双旋翼系统的数学模型,在Matlab环境下利用Simulink建立了该系统的仿真模型,包括系统水平部分的1自由度模型、垂直部分的1自由度模型、系统的2自由度模型。然后在Matlab环境下设计了该系统的单一PID控制系统以及带去耦PID控制器的控制系统,对PID控制器进行了参数整定,并且对比这两种控制系统的仿真结果,发现带去耦PID的控制系统确实减小了双旋翼系统的耦合程度。最后,如果采用传统的PID参数的整定方法对该系统进行优化设计,则会非常麻烦和费时。因此为解决这一问题,使该控制系统中的PID控制器的参数整定更加简单方便,本文提出了利用Matlab的最优工具箱,用Matlab语言编写程序,对该控制系统的PID控制器进行优化设计,该方法计算简单方便。更多还原

【Abstract】 With the development of modern technologics, control theory and technology is becoming more and more important. The application area of control technology is broad. With the purpose of the study of control theory and technology, control theory and system laboratory bought some advanced laboratory equipments. The Twin Rotor Multi-Input Multi-Output System is a laboratory set-up designed for control experiments. From the control point of view it exemplifies a high order non-linear complex system with significant cross-couplings. The study of complex system can be promoted by the study and design of TRMS. Firstly, the mathematical model is developed in this thesis. Simulation models of TRMS is developed in Matlab, include model of the horizontal part of TRMS, model of the vertical part of TRMS, 2-DOF model of TRMS. Secondly, 2-DOF system with simple PID controller and 2-DOF system with a cross-coupled PID controller are designed in Matlab. And the parameters of PID controller are tuned. Compared with the interactions between the horizontal and vertical of system with simple PID controller, the interactions of system with a cross-coupled PID controller is weak. Finally, this thesis puts forward a new method to optimize the TRMS using functions provided in optimization toolbox of Matlab. This method has been proved to be simple and practicable. It can have a shortcut conclusion.更多还原