直线一级倒立摆小车控制系统分析与校正

Analysis and correction of control system for a linear inverted pendulum car

倒立摆是多变量、不稳定、复杂的非线性系统,是进行控制理论研究的典型实验平台。实际中经常采用倒立摆系统来考察复杂系统的性能。本文首先将直线倒立摆抽象为简单的模型便于受力分析进行机理建模,通过牛顿力学原理分析得出相应的模型,进行拉氏变换带入相应参数得到系统的传递函数,进而利用PID控制对其系统进行校正,通过MATLAB的仿真建模,进一步优化了系统模型。

Inverted pendulum is a multivariable, unstable and complex nonlinear system？ It is a typical experimental platform for control theory research？ In fact, inverted pendulum system is often used to inspect the performance of complex system？ In this paper, the linear inverted pendulum is abstracted as a simple model to facilitate the mechanism modeling of force analysis, and the corresponding model is obtained through the theory of Newtonian mechanics？ The transfer function of the system is obtained by the Lagrangian transformation into the corresponding parameters, and then the system is corrected by the PID control, and the simulation modeling of the MATLAB is carried out？ The system model is optimized step by step？