倒立摆的仿真与实时控制摘 要倒立摆系统是一个典型的快速、多变量、非线性、不稳定系统，对倒立摆的控制讨论无论在理论上和方法上都有深远的意义。本论文以实验室原有的直线一级倒立摆实验装置为平台，重点讨论其 PID控制方法，设计出相应的PID控制器，并将控制过程在MATLAB上加以仿真。本文主要讨论容是：首先概述自动控制的进展和倒立摆系统讨论的现状；介绍倒立摆系统硬件组成，对单级倒立摆模型进行建模，并分析其稳定性；讨论倒立摆系统的几种控制策略，分别设计了相应的控制器，以MATLAB为基础，做了大量的仿真讨论，比较了各种控制方法的效果；借助固高科技MATLAB实时控制软件实验平台；利用设计的控制方法对单级倒立摆系统进行实时控制，通过在线调整参数和突加干扰等，讨论其实时性和抗千扰等性能；对本论文进行总结，对下一步讨论作一些展望。关键词：一级倒立摆，PID，MATLAB 仿真DESIGN AND RESEARCH OF INVERTED PENDELUMabstract Inverted pendulum system is a typical fast, multivariable, nonlinear and unstable system, the control of the inverted pendulum research both in theory and methods on have far-reaching significance. This paper by laboratory original straight line level inverted pendulum experiment device as a platform, focuses on the PID control method, designed the corresponding PID controller, and the control process simulation in MATLAB. This article main research content is: first Outlines the development of automatic control and the present situation of the inverted pendulum system research; Introduces the composition of hardware of inverted pendulum system, modeling of single-stage inverted pendulum model, and analyze its stability; Study several kinds of inverted pendulum system control strategy, the corresponding controller is designed, based on the MATLAB, do a lot of simulation Key words: primary inverted pendulum, PID, the MATLAB simulation毕业设计（论文）原创性声明和使用授权说明原创性声明本人重承诺：所呈交的毕业设计（论文），是我个人在指导老师的指导下进行的讨...
