【作者】 朱兴；

【导师】 李宇成；

【作者基本信息】 北方工业大学 ， 检测技术与自动化装置， 2007， 硕士

【摘要】 倒立摆系统是非线性、强耦合、多变量和自然不稳定的系统。在控制过程中，它能有效地反映诸如可镇定性、鲁棒性、随动性以及跟踪等许多控制中的关键问题，是检验各种控制理论的理想模型。本文首先回顾了在倒立摆控制方面国内外的研究现状及常见控制算法，说明了本课题研究的主要内容和采用的方法。第二章介绍了一、二、三级直线倒立摆系统的结构，给出数学模型的建立和推导过程，分析其可控性、可观测性，讨论了采用线性二次型最优调节器(LQR)控制算法对倒立摆系统进行稳定控制的可行性。第三章应用LQR算法，以MATLAB为工具，分别做了一、二、三级直线倒立摆的稳定控制和加扰仿真实验。进一步，通过对仿真实验数据进行对比分析，探讨了加权阵Q中权系数的选择规律。为了使仿真的效果更为形象化，本章还运用MATLAB语言编写了仿真动画程序。实验结果表明，基于上述原理控制一、二、三级直线倒立摆，能够达到良好的控制效果，且系统具有一定的抗干扰能力。第四章简要地介绍了倒立摆实验平台和系统的硬件结构。在软件设计部分，先介绍实时控制系统软件的构成模块，再对设计过程中几个重点考虑的问题进行分析，包括运动控制器的初始化，中断和系统的运行安全机制等，并结合程序代码作详细说明。程序在Turbo C环境下编译调试。论文最后对课题的工作内容进行了总结，给出了下一步的研究方向和工作重点。更多还原

【Abstract】 Inverted-pendulum is a non-linear, coupling, variable and natural-unsteadiness system. During the process of controlling, pendulum can effectively reflect many pivotal problems such as equanimity, robust, follow-up and track. So, it is a perfect model to test various control theories.Firstly, the paper reviewed the present situation in the research area to the inverted-pendulum at home and abroad. To the common control algorithms, the paper did a clear expatiation. The main content and the research methodology of the subject were also been explained. In the second chapter, the physical structures of the single, double, and triple inverted-pendulum were introduced. The mathematical models were established and the inferential processes were shown. By analyzing the controllability and the observability to the models, the author discussed the feasibility of the linear-quadratic regulator (LQR) control algorithm controlling multiply inverted-pendulum. In the third chapter, by the using of MATLAB as the simulation tool, a series of experiments in which some added interrupt signals were designed to control the poles’ swing steadily. Also by the contrast and analysis to the simulated data, the paper discussed the rule to choose the parameters of the weighted matrix Q. In order to achieve a more visualized simulated effect, the author also designed the simulation animation program by the using of MATLAB language. These results of the experiments indicated that the using of this method based on the above theories to control the single, double, triple inverted-pendulum could achieve a good control performance and the system has the antijamming ability. The fourth chapter briefly introduced the experiment platform and the hardware structure of the system. In the parts of the design to the software, the modules of the real-time control system were introduced firstly. Then, some analysis was done to several considerable questions, including the initialization of the movement controller, the interrupt service routine and the operational safety mechanisms of system. A clear illumination was described integrated with the codes. The program was compiled and debugging under the Turbo C environment. The paper finally summarized the key findings and analysis, identified the future research direction.更多还原