摘要本文首先用牛顿力学方法对一级倒立摆系统进行了数学建模,得到了系统的状态空间方程。根据状态空间方程得出了倒立摆的simulink模型，然后让其与位移PID控制器、角度PID控制器一起构成了本文要研究的控制系统。33871
其次，本文对系统的反馈环节加延时进行仿真，分析了引入网络环节后对控制系统的影响，得出了时延会降低系统的动态性能，使稳定范围变小，严重的情况下会使系统失稳这一结论；对系统输入加白噪声扰动时进行仿真，得出了当输入可以趋于稳定时，输出也能趋于稳定这一结论，仿真结果还证明了2PID控制的有效性和鲁棒性。
关键词 倒立摆 网络时延 PID控制 白噪声
毕业论文设计说明书外文摘要
Title Performance analysis of the inverted pendulum in networks
Abstract
This paper established a mathematical model of the single-stage inverted pendulum system by using Newton mechanics method firstly, then the state space equation of the system is created. According to it, the Simulink model of the system can be founded, of which, with position PID controller and angle PID controller, the control system studied in this paper is composed.
Secondly, this paper simulates the feedback with time delay, and analyzes the influence of the control system after introducing network link into system, then the conclusion that time delay can not only reduce the dynamic performance of the system, narrowing the stability range, but also unstabilize the system in severe case is obtained. The situation that system input has white noise disturbance is simulated, the result is that if the input signal is asymptotically stable, the output signal will be asymptotically stable as well. The effectiveness and robustness of 2PID control can also be demonstrated in the simulation.
Keywords Inverted pendulum The network time delay PID control White noise
目 次
1 绪论 1
1.1 倒立摆系统概述 1
1.1.1 倒立摆系统研究在国内外的发展情况 1
1.1.2 倒立摆系统控制方法的研究现状 1
1.2 网络控制系统概述 2
1.3 本文的主要内容 3
2 倒立摆系统及其数学建模 4
2.1 倒立摆的数学建模 4
2.2 倒立摆实验系统模型 6
2.2.1 倒立摆本体 7
2.2.2 电控箱 7
2.2.3 控制平台组成部分 8
3 PID控制原理 9
3.1 PID控制概述 9
3.2 三个典型环节 9
3.2.1 比例环节 10
3.2.2 积分环节 10
3.2.3 微分环节 10
3.3 PID控制规律 11
4 倒立摆系统PID控制性能分析 13
4.1 PID控制器的设计 13
4.2 一级倒立摆系统的simulink模型及其PID控制 13
4.2.1一级倒立摆系统的simulink模型 13
4.2.2 倒立摆的PID控制 13
4.2.3 仿真结果 14
4.3 反馈环节有时延情况下的系统响应 14
4.3.1 位移反馈存在时延 14
4.3.2 角度反馈存在时延 16
4.3.3 位移和角度都存在时延 17
4.3.4 小结 18 网络化倒立摆系统的性能分析:http://www.751com.cn/zidonghua/lunwen_31170.html