直线二级倒立摆的控制问题的研究和matlab仿真

摘要： 本文是河南理工大学毕业论文题为《直线二级倒立摆的控制问题的研究和matlab仿真说明书》的总结和摘要。倒立摆系统作为一种典型的多变量、非线性、强耦合和快速运动的高阶不稳定系统，被广泛应用于测试各种新型控制理论和方法的有效性。因此，近年来许多学者对倒立摆系统进行了广泛的研究。 本文针对直线二级倒立摆的控制问题进行了研究。首先，阐述了倒立摆系统控制研究的发展过程和现状。接着，介绍了倒立摆系统的结构，并详细推导了二级倒立摆的数学模型。在控制器设计方面，本文采用了极点配置和LQR最优控制两种不同的方法。通过比较和MATLAB仿真，验证了所设计的控制器的有效性、稳定性和抗干扰性。 关键词：倒立摆；极点配置；最优控制；MATLAB；仿真 Abstract: This paper is a summary and abstract of the graduation thesis entitled "Research and Matlab Simulation of the Control Problem of Straight-line Two-stage Inverted Pendulum" from Henan Polytechnic University. Inverted pendulum system is a typical multi-variable, non-linear, strong coupling and rapid movement high-order unstable system, which is widely used to test the effectiveness of various new control theories and methods. Therefore, in recent years, many scholars have conducted extensive research on inverted pendulum systems. This paper focuses on the control problem of straight-line two-stage inverted pendulum. Firstly, the research development process and current situation of inverted pendulum system control are expounded. Then, the structure of inverted pendulum system is introduced, and the mathematical model of two-stage inverted pendulum is derived in detail. In terms of controller design, two different methods, pole placement and LQR optimal control, are used in this paper. By comparing and simulating with MATLAB, the effectiveness, stability and anti-interference of the designed controllers are verified. Keywords: Inverted pendulum; Pole placement; Optimal control; MATLAB; Simulation