直线一级倒立摆的PID控制方法研究  

PID Control Method of Straight Line Inverted Pendulum

作　　者：姜海燕[1] JIANG Haiyan(College of Rail Transit Electric Technology,Hunan Railway Professional Technology College,Zhuzhou 412001,Hunan China)

机构地区：[1]湖南铁道职业技术学院轨道交通电务技术学院

出　　处：《河南科学》2019年第6期908-913,共6页Henan Science

基　　金：2016年湖南省教育厅科学研究项目(16B176);2018年湖南省教育厅科学研究项目(18C1527)

摘　　要：直线一级倒立摆控制系统是控制理论研究的典型实验平台之一,它具有非线性、不确定性和开环不稳定性等特点.首先对直线一级倒立摆系统进行分析,建立其数学模型;其次由系统的传递函数设计出该系统的PID控制器;然后通过MATLAB仿真软件中的M模块建立其该系统的PID控制器模型;最后通过调节合适的PID参数来控制直线一级倒立摆系统的平衡性,并通过其响应曲线来验证所提出的算法和模型的正确性.The linear inverted pendulum control system is one of the typical experimental platforms for the control theory research. It is characterized by nonlinearity,uncertainty and open-loop instability. In this paper,the linear inverted pendulum system is analyzed first,and the mathematical model is established. The PID controller is designed by the transfer function of the system,and the PID controller model of the system is established by the M module in the MATLAB simulation software. Finally,the balance of the linear inverted pendulum system is controlled by adjusting the appropriate PID parameters,and the correctness of the proposed algorithm and model is verified by its response curves.

关 键 词：倒立摆 PID控制器 MATLAB 数学模型 

分 类 号：TH137[机械工程—机械制造及自动化] TP206.3[自动化与计算机技术—检测技术与自动化装置]