I直线一级倒立摆的平衡控制器设计摘 要倒立摆系统实则为尤为典型的非线性系统之一，表现出极其显著的不稳定性和高耦合性，还涉及到多样化变量，故而可将其看作为某特定的控制对象，进行相对深入的细致研究。因为在实践当中，存在一系列此类系统，故而无论从理论方面入手，还是从方法维度来看，其均含有极其深远的研究意义。若针对直线一级倒立摆系统所含的基本结构，以及其在实际工作过程中秉持的基本原理，进行科学合理的综合分析，将可获得与之相匹配的物理模型。据此将能借助于牛顿力学法的作用，获得系统匹配的传递函数以及相应的状态空间表达式。此时仅需将所需的参数代入其中，即可获得相对应的模型。不仅如此，本文还针对系统所含的可控性等方面，进行针对性的 MATLAB 仿真分析，以此得出结论，该系统含有极为显著的不稳定性，并能对其进行科学有效的精准控制。随后，本文针对该系统所涉及的轨迹校正，进行科学合理的细致分析，再借助于 simulink的作用，对其进行精准的轨迹校正仿真，并实现科学有效的精准控制。与此同时，本文还针对此系统抵御各项干扰的能力，进行更深层次的细致分析。由此得知，以 Matlab 等技术为基础，而成功构建出的轨迹校正法，极其适用于直线一级倒立摆，可达到科学精准的控制效果。关键词：建模；根轨迹校正；直线一级倒立摆；MATLAB 仿真ABSTRACTInverted pendulum system itself is an absolutely unstable, high-order, multi-variable, strongly coupled nonlinear system, which can be studied as a typical control object. Because there are many such systems in practice, the research on it is of far-reaching significance in theory and methodology.Based on the analysis of the composition and working principle of the linear inverted pendulum system, the physical model of the system is obtained. On this basis, the transfer function and state space expression of linear inverted pendulum are obtained by Newton mechanics method or Lagrangian method. The actual model of linear inverted pendulum is obtained by replacing the actual parameters with the equation.The controllability and step response of the system are simulated ...
