直线一级倒立摆的数学建模和根轨迹控制  

Mathematical Modeling and Root Locus Control of Linear Level Inverted Pendulum

作　　者：王惠萍[1] 孔庆忠[1] 

机构地区：[1]内蒙古工业大学机械学院,呼和浩特010051

出　　处：《内蒙古工业大学学报（自然科学版）》2015年第1期20-24,共5页Journal of Inner Mongolia University of Technology：Natural Science Edition

摘　　要：倒立摆系统是进行控制理论教学及开展各种控制实验的理想平台,论文以倒立摆系统为研究对象,对其进行数学建模,并绘制根轨迹图。针对系统的不稳定性,采用根轨迹法设计出确定参数下的使系统稳定的控制器,并用MATLAB对倒立摆系统进行仿真,结果表明系统能够较好地跟踪阶跃信号,达到稳定状态。The inverted pendulum control system is an ideal platform for teaching the theory of control and carrying out various experiments on controlling. This thesis takes the inverted pendulum system as the research object, making the mathematical modeling and drawing the root locus of it. For the stability of the system, the root locus method is employed to design a stable controller of the deter- mining parameters. And the inverted pendulum system is simulated with MATLAB. The results show that the system can better track the step signals, thus reaching a steady state.

关 键 词：倒立摆 数学建模 根轨迹法 

分 类 号：TH703.4[机械工程—仪器科学与技术]