LMI的单级倒立摆鲁棒控制器研究与设计开发.doc

毕业设计(论文)说明书
题目名称: 基于LMI地单级倒立摆鲁棒控制器设计
学院: 机械工程学院
专业年级: 机械设计制造及其自动化11级
姓名: 梁钜锋
班级学号: 机设11-02-04
指导教师: 张泽健
二○一五年六月三日
摘要
倒立摆控制系统是一个多变量、高阶次、非线性和强耦合地典型不稳定控制系统,它地各项参数具有不确定性,,,也是实现理论通往实践地桥梁.
本文首先简单介绍倒立摆控制系统地实验设备,了解其性能控制地理论、方法和研究过程;利用牛顿—欧拉方法对倒立摆系统进行建模,得出一个非线性地数学模型;在平衡点附近提出假设,对模型做了线性化处理;然后,利用LMI方法(线性矩阵不等式法)设计了状态反馈控制器,给出系统具有性能地线性矩阵不等式地条件,;完成了模型地ADAMS建模和动力学仿真,得到了摆杆速度、小车位移和小车加速度地函数图像,;基于LMI理论(线性矩阵不等式法),提出了非脆弱鲁棒控制器存在地充分条件,,,评价指标地确定就成为系统设计地关键,因此本文综合考虑各方面问题,结合实际情况,在理论分析和仿真过程中反复验证,得出了比较合理地参数,保证了设计状态反馈控制器地合理及有效性.
关键词:控制;倒立摆;状态反馈; ADAMS仿真; LMI方法.
Abstract
The control of inverted pendulum system is a multivariable, high-order, nonlinear and strong coupling of typical unstable control system and its parameters with uncertainty, but also by the uncertain factors of interfe
rence. The inverted pendulum is a typical teaching and research equipment recognized by scholars from all walks of life, and it is also the representative object of the control in the teaching of control theory.. The research on the control system of the inverted pendulum can effectively solve the theoretical problems in the control link, and also the bridge to achieve the theory to practice.
firstly, this paper simply introduced the inverted pendulum control system experimental equipment and understand the performance of control theory, method and research process; modeling of the inverted pendulum system by Newton Euler method, get a nonlinear mathematical model; in the vicinity of the equilibrium point hypothesis, the linearization of the model; then, using LMI (linear matrix inequality method) to design the state feedback controller, gives the system with performance in terms of linear matrix inequality conditions and inverted pendulum system as an example and simulation to verify