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作为现代控制理论在空间技术中的应用典范,倒立摆系统一直广受青睐。随着技术进步,一级、二级、三级、四级倒立摆系列相继问世.倒立摆系统实属多变量、非线性、强耦合系统.因此,首先基于牛顿力学与运动学知识建立其数学模型动力学方程,并经过线性化处理得到其传递函数模型。其次在MATLAB环境中进行PID控制下的仿真。量后由仿真结果指出单级倒立摆系统的在应用中的优势与缺憾。
As an example of the application of modern control theory in space technology, the inverted pendulum system has been widely favored. As the technology progresses, the first, second, third and fourth inverted pendulum series come out one after another.The inverted pendulum system is indeed a multivariable, nonlinear and strongly coupled system.Therefore, based on Newtonian mechanics and kinematics, Model dynamics equations, and through linearization to get the transfer function model. Followed by simulation in the MATLAB environment PID control. The simulation results show the advantages and disadvantages of the single-stage inverted pendulum system.