倒立擺論文倒立擺 模糊控制 PID控制 模糊PID控制 MATLAB仿真

1、【關(guān)鍵詞】倒立擺 模糊控制 PID控制 模糊PID控制 MATLAB仿真【英文關(guān)鍵詞】Inverted pendulum Fuzzy control PID control Fuzzy PID control MATLAB Simulation倒立擺論文：基于PID的二級(jí)倒立擺控制器的設(shè)計(jì)【中文摘要】二級(jí)倒立擺系統(tǒng)是一個(gè)具有多變量、強(qiáng)耦合性、高度非線(xiàn)性的不穩(wěn)定的系統(tǒng)，它可以反應(yīng)出控制界當(dāng)中的很多問(wèn)題，例如：魯棒性、可鎮(zhèn)定性、跟蹤性等。在控制領(lǐng)域當(dāng)中，有很多的不穩(wěn)定系統(tǒng)以及非線(xiàn)性系統(tǒng)，而倒立擺系統(tǒng)能夠?qū)@樣的系統(tǒng)進(jìn)行檢驗(yàn)，所以倒立擺系統(tǒng)是控制領(lǐng)域當(dāng)中學(xué)者研究的熱點(diǎn)之一。倒立擺的控制方法也在軍事、

2、機(jī)器人等領(lǐng)域中得到了廣泛性的應(yīng)用。第一章簡(jiǎn)單介紹了倒立擺系統(tǒng)研究的歷史與現(xiàn)狀，并闡述了在不同時(shí)期所取得的成果。因?yàn)楸疚脑O(shè)計(jì)的是模糊PID控制器，所以在接下來(lái)的章節(jié)中我們首先要做的就是相關(guān)理論的準(zhǔn)備工作。準(zhǔn)備的內(nèi)容包括：PID理論、模糊理論等相關(guān)知識(shí)的介紹。之后用拉格朗日函數(shù)方法建立一個(gè)二級(jí)倒立擺的數(shù)學(xué)模型，根據(jù)這個(gè)模型求出它的狀態(tài)與輸出兩個(gè)方程，用現(xiàn)代控制理論對(duì)該系統(tǒng)的穩(wěn)定性、可控制性、能觀(guān)測(cè)性進(jìn)行分析，同時(shí)得到本系統(tǒng)的控制條件。第4章詳細(xì)的介紹了模糊自整定PID控制器的設(shè)計(jì)的過(guò)程，對(duì)模糊控制器的各個(gè)參數(shù)進(jìn)行了說(shuō)明，同時(shí)設(shè)計(jì)了模糊控制規(guī)則、推理過(guò)程等。第5章利用MATLAB語(yǔ)言，將我們?cè)O(shè)計(jì)的控

3、制器應(yīng)用到第2章的二級(jí)倒立擺模型上，進(jìn)行了仿真實(shí)驗(yàn)。接著應(yīng)用所設(shè)計(jì)的控制器對(duì)二級(jí)倒立擺系統(tǒng)進(jìn)行了實(shí)際控制。模擬仿真跟實(shí)物控制兩者都證明，本文中我們所設(shè)計(jì)的模糊PID控制器性能優(yōu)越，穩(wěn)定程度較高。與常規(guī)的PID控制器相比，避免了手動(dòng)調(diào)節(jié)參數(shù)過(guò)程的繁瑣以及在環(huán)境變化時(shí)參數(shù)不能及時(shí)變化以滿(mǎn)足系統(tǒng)要求的弊端。由此我們可以得出結(jié)論：本文所設(shè)計(jì)的控制方法要優(yōu)于單獨(dú)的模糊控制、PID控制，它是一種非常有效的控制方法，在保證系統(tǒng)穩(wěn)定的前提下，實(shí)現(xiàn)了系統(tǒng)的快速、無(wú)差控制?！居⑽恼緿ouble inverted pendulum is an instability system which has many

4、variable, strong coupling and nonlinear. The double inverted pendulum can effectively reflect many questions, such as robustness, stabilizability and tracking performance etc. There are many instability and nonlinear systems in this area, at the same time, inverted pendulum can tested such systems,

5、which is used in a control area and scholars frequently. The control methods of inverted pendulum were also widely used in military, robotics and other areas.In chapter2, we describe the research development status of inverted pendulum control system, and expatiate the control results in the differe

6、nt developing periods. Because the object is to design the fuzzy PID controller, we first do the preparatory work of the relevant theory, which include the introduction of the PID and fuzzy theory. In chapter3, we establish the mathematical model of inverted pendulum control system (state equation)

7、and by using modern control theory analysis the controllability, observability and stability of two level inverted pendulum system. In chapter4, the fuzzy PID controller design process is given, the fuzzy controller parameters are described and the fuzzy control rules and the reasoning process are d

8、eveloped. In chapter5, the fuzzy PID controller is applied to the double inverted pendulum model by using MATLAB as the simulation tool, and then the fuzzy PID controller is applied to the actual double inverted pendulum system.The simulation and physical experiment results show that the fuzzy PID c

9、ontroller has higher stabilizability. Compared to PID controller, the fuzzy PID controller can avoid the drawbacks of manual adjustment parameter and not timely changing the parameter to meet the system requirements. The fuzzy PID controller designed in this thesis is superior to a single fuzzy cont

10、rol and PID control, and it is a very effective control method and the fast control and no error control are gotten.【目錄】基于PID的二級(jí)倒立擺控制器的設(shè)計(jì) 摘要 3-4 Abstract 4 第一章 緒論 7-13 1.1 課題研究的意義 7-8 1.2 倒立擺研究歷史與現(xiàn)狀 8-9 1.3 倒立擺的控制規(guī)律 9-10 1.4 模糊PID控制的現(xiàn)狀分析與研究 10-11 1.5 論文主要工作 11-13 第二章 PID控制與模糊控制簡(jiǎn)介 13-19 2.1 PID控制理論 1

11、3-15 經(jīng)典PID控制理論簡(jiǎn)述 13-15 2.2 模糊控制理論 15-18 模糊控制原理 16 模糊控制器的組成及功能 16-18 2.3 本章小結(jié) 18-19 第三章 直線(xiàn)二級(jí)倒立擺數(shù)學(xué)模型的建立及分析 19-29 3.1 直線(xiàn)二級(jí)倒立擺的數(shù)學(xué)模型的推導(dǎo) 19-27 建立非線(xiàn)性數(shù)學(xué)模型 19-24 模型線(xiàn)性化處理 24-27 3.2 直線(xiàn)二級(jí)倒立擺的穩(wěn)定分析 27-28 3.3 本章小結(jié) 28-29 第四章 模糊自整定PID控制器的設(shè)計(jì) 29-43 4.1 模糊自整定PID控制器 29-30 4.2 參數(shù)自整定的想法 30-31 4.3 模糊控制器結(jié)構(gòu)設(shè)計(jì) 31-42 輸入量模糊化和輸出量反模糊化 32-37 建立模糊控制規(guī)則 37-38 模糊推理 38-41 選擇采樣周