| 倒立摆系统数学建模与PID控制器实现 |
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| 引用本文： | 杜岗,徐静.倒立摆系统数学建模与PID控制器实现[J].连云港职业技术学院学报,2013,26(2):19-23. |
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| 作者姓名： | 杜岗 徐静 |
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| 作者单位： | 连云港职业技术学院,江苏连云港,222006 |
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| 摘 要： | 针对多变量、非线性、强耦舍性的倒立摆系统，采用牛顿一欧拉法建立了其动力学方程，并进行了线性化处理，得到了状态空间模型，从而设计出一种传统PID控制方案，实现了对摆杆的稳定控制。最后在MATLAB环境下进行了计算机仿真，仿真结果表明，摆杆角度控制过程具有良好的动态性能和稳态性能，验证了建模的正确性和控制方案的有效性。
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| 关 键 词： | 建模 倒立摆 PID |
Mathematical Modeling of Inverted Pendulum System and Complementation of PID Controller |
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| DU Gang
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XU Jing.Mathematical Modeling of Inverted Pendulum System and Complementation of PID Controller[J].Journal of Lianyungang Technical College,2013,26(2):19-23. |
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| Authors: | DU Gang XU Jing |
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| Institution: | (Lianyungang Technical CoUege, Lianyungang 222006, China) |
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| Abstract: | For the inverted pendulum system with multi - variable, nonlinear and strong coupling, Newton - Euler method was used to establish its dynamics equation with linear processing and the state space model formed. Therefore a traditional PID control plan was designed and achieved stability control of the pendulum rod. Finally a computer simulation was carried out in the MATI_AB environment and the findings show that control process of the swing angle has good dynamic performance and steadystate performance, verifying correctness and effectiveness of modeling |
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| Keywords: | modeling inverted pendulum PID |
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