精品文档---下载后可任意编辑摘 要倒立摆是一个典型的多变量、高阶、非线性、强耦合本征不稳定系统。因此，倒立摆主要应用于火箭发射过程的姿态调整和直升机飞行控制领域中。本论文在参考大量文献的基础上，建立了一级倒立摆系统的数学模型，对系统进行了稳定性、可控性分析，指出一阶倒立摆的开环不稳定性。文章主要完成了：一级倒立摆动力学模型和模糊 PID 控制器模块的设计，确定了输入输出信号的论域、隶属度函数和模糊规则，最后利用 Matlab 中的 simulink 工具箱创建了基于模糊控制理论的一级倒立摆系统的 simulink 仿真模型，对倒立摆系统进行分析。仿真结果证明模糊 PID 控制不仅可以稳定倒立摆系统，还使小车稳定在平衡位置附近，证明了本文设计的模糊 PID 控制器有良好的稳定性、鲁棒性和适应性。关键词：倒立摆，PID 控制，MATLAB，模糊控制The Fuzzy Control of an Linear Inverted PendulumABSTRACTHandstand pendulum is a typical multivariable and high order, nonlinear and strong coupling eigen unstable system. Therefore, inverted pendulum is mainly used in the process of the rocket attitude adjustment and helicopter flight control field. This thesis in reference on the basis of a large number of documents, a level inverted pendulum mathematic model of the system, and the stability of the system is analyzed and controllable, and points out that the first-order handstand pendulum open-loop instability. This article mainly completed: level inverted pendulum dynamics model and fuzzy PID controller module design, confirmed the input and output signal of domain, the membership function and fuzzy rules, and use of Matlab toolbox of simulink based on fuzzy control theory to create the level inverted pendulum system simulink7.1 simulation model for inverted pendulum system is analyzed. The simulation results prove that the fuzzy PID control can not only stable inverted pendulum system, but in the stable equilibrium position proved in this paper, n...
