【作者】 邱宏；

【导师】 夏扬；

【作者基本信息】 扬州大学 ， 控制理论与控制工程， 2007， 硕士

【摘要】 本文针对倒立摆的稳定控制策略和基于网络的远程监控技术进行了研究,提出了二个控制策略,并且构建了倒立摆网络实验系统。主要研究工作如下:首先,对于经典的稳定控制LQR,进行了改进研究,提出了基于T-S模型的LQR控制策略。LQR是对线性对象的控制算法,而倒立摆当摆杆偏角较大时,基于平衡点线性化的模型便不准确,因此本文建立了对象的T-S模型,分段线性化,提高模型的精度,每一段内针对控制目标调整LQR控制参数,从而优化了LQR控制的总体性能,实际运行结果证明其有效性。接着,对PID控制在倒立摆上的应用进行了探索。重新整定了对摆杆偏角控制合适的PID参数,提出带位移限定PID控制策略,避免了小车的撞壁现象,使得PID的网络实验具有可行性;然后又提出模糊PID控制策略,采用三闭环的结构,实验的实际运行证明:该策略能以较高的精度实现了对倒立摆多任务的控制目标。最后,本文研究了基于网络的远程监控技术,构建了一套以倒立摆为控制对象的网络实验系统。系统由三个部分组成,在第一部分控制器中,本文修改了原本地控制的程序,使之适应网络控制的实时要求;后二个部分:设计C/S模式的服务器和客户机结构,并编写、调试程序,取得了实际运行的成功。本文力求理论联系实际,控制算法理论课题的提出来自倒立摆的应用实际,最后又通过倒立摆的实际运行效果来检验结论。通过本文的研究,拓展了LQR,PID控制策略在类似倒立摆多任务、快速、非线性被控对象上的应用,也为这类对象的网络监控提供了一种可行性方案。更多还原

【Abstract】 Aiming at the balance control of an inverted pendulum and remote monitoring technique, this thesis presents two control strategies and sets up an Internet-based experiment system. The main work of this thesis is summarized as follows:Firstly, a new control strategy -- LQR fuzzy control based on T-S model is presented, which is better than the classic LQR. LQR is a control strategy for the linear model. When the angle of the pole of the inverted pendulum is big enough, the plant model will not be linear any more. So, this thesis sets up the T-S model of the inverted pendulum with more suitable control parameters in each fuzzy subset. As a result, the whole control system showes better performance. Real experiments illustrate the effectiveness of the designed controller.Secondly, some research work on PID control of inverted pendulum is carried out. After redesigning the more suitable PID parameters to control the angle of the pole of the inverted pendulum, the PID control strategy with position limiting is presented, which aviods the collision of the cart to the wall and makes Internet-based PID experiment feasible. Another new control strategy -- Fuzzy PID is proposed, which includes three closed loops. Practical experiments proved that this strategy can control multiple variable of inverted pendulum with a certain accuracy.Finally, using remote monitoring technique, an Internet-based experiment system, taking the inverted pendulum as a control plant, is presented. The whole system consists of three parts: the first part is to modify original local control program so as to meet the real time remote control requirment; the next two parts are 3 C/S frame of server and client respectively. Having been designed, programmed and debugged, the system can work successfully.This thesis makes an effort on combining the control theory with the practice. All control theories come from the real experiments of the inverted pendulum and are proved by the experiments then. Through the research of this thesis, according to such plants as inverted pendulum which is fast, nonlinear and with multiple control targets, the appliance of LQR, PID control strategies is widened, and one feasible remote monitoring blue print is provided.更多还原