基于.一阶倒立摆的matlab仿真实验 - 百度文库 ÏÂÔر¾ÎÄ

.

4.3·ÂÕæ½á¹û

ϵͳ·ÂÕæͼ£¨Î»Öã¬Ëٶȣ¬½Ç¶È£¬½ÇËٶȣ©

. .

.

¸ù¹ì¼£

4.4¸ù¾Ý´«µÝº¯ÊýÉè¼ÆµÚ¶þÖÖ¿ØÖÆ·½·¨-----PID´®¼¶¿ØÖÆ

PID¿ØÖÆÆ÷ϵͳ¿òͼ£º

. .

.

¾­¹ý¼¸´Î²ÎÊýµ÷ÊԵóöKp=300£¬Ki=200,Kd=20Âú×ãÐÔÄÜÒªÇó£¬Æä·ÂÕæͼÐÎÈçÏ£º

5½á ÂÛ

±¾´ÎÉè¼ÆÖ÷Ҫͨ¹ýPID´®¼¶¿ØÖƺÍ״̬¿Õ¼ä¼«µãÅäÖõķ½·¨¶ÔÖ±ÏßÒ»¼¶µ¹Á¢°Ú½øÐÐУÕý£¬Í¨¹ý´Ë´Î¿Î³Ì£¬ÕÆÎÕMATLABµÄ»ù±¾Ê¹Ó÷½·¨¡£ÔڿγÌÉè¼Æ¹ý³ÌÖУ¬ÅàÑøÁËÍŶÓЭ×÷ÄÜÁ¦£¬¿Ì¿à×êÑÐÒÔ¼°±à³ÌÄÜÁ¦£¬Îª½ñºóµÄѧϰ¹¤×÷´òÏÂÁËÁ¼ºÃµÄ»ù´¡¡£¾­¹ýÕâ´Î¿Î³Ì£¬ÊÇÎÒÊÜÒæ·Ëdz¡£

µÚÒ»¡¢Ñ§»áÁËÈçºÎÔËÓÃ×Ô¼ºËùѧµÄ֪ʶ½áºÏʵ¼ù

µÚ¶þ¡¢Ó²¼þ×îÈ»ÐèÒª²»¶Ï³¢ÊÔ£¬µ«²»ÊÇäĿµÄµ÷ÊÔ£¬¶øÊÇÐèÒªÓÐÀíÂÛ×÷Ϊָµ¼£¬Ö¸Ã÷µ÷ÕûµÄ·½Ïò£¬ÕâÑùÉè¼Æϵͳ¾Í»áÊ°빦±¶¡£

. .

.

µÚÈý¡¢MatlabµÈ¹¤¾ßÈí¼þµÄʹÓÃÒ²´ó´óÌá¸ßÁËÉè¼ÆϵͳµÄËٶȡ£ÕâЩ¶¼ÊÇÊÔÑéÖÐÕä¹óµÄÊÕ»ñ¡£

×îºóÔÙÒ»´Î¸ÐлÀÏʦµÄÄÍÐĽ²½âÓ뾫ÐĵĽ̻壬ÈÃÎҶɹýÄѹأ¬Ë³ÀûÍê³ÉʵÑé¡£

»¶Ó­ÄúµÄ¹âÁÙ£¬WordÎĵµÏÂÔغó¿ÉÐ޸ı༭˫»÷¿Éɾ³ýҳüҳ½Åлл£¡Ï£ÍûÄúÌá³öÄú±¦¹óµÄÒâ¼û£¬ÄãµÄÒâ¼ûÊÇÎÒ½ø²½µÄ¶¯Á¦¡£ÔùÓ 1¡¢Èç¹ûÎÒÃÇ×öÓë²»×ö¶¼»áÓÐÈËЦ£¬Èç¹û×ö²»ºÃÓë×öµÃºÃ»¹»áÓÐÈËЦ£¬ÄÇôÎÒÃÇË÷ÐÔ¾Í×öµÃ¸üºÃ£¬À´¸øÈËЦ°É£¡ 2¡¢ÏÖÔÚÄã²»ÍæÃüµÄѧ£¬ÒÔºóÃüÍæÄã¡£¡¢ÎÒ²»ÖªµÀÄêÉÙÇá¿ñ£¬ÎÒÖ»ÖªµÀʤÕßΪÍõ¡£¡¢²»Òª×ö½ðÇ®¡¢È¨ÀûµÄÅ«Á¥£»Ó¦Ñ§»á×ö¡°½ðÇ®¡¢È¨Àû¡±µÄÖ÷ÈË¡£¡¢Ê²Ã´Ê±ºòÀë¹âÃ÷×î½ü£¿ÄǾÍÊÇÄã¾õµÃºÚ°µÌ«ºÚµÄʱºò¡£¡¢×îÖµµÃÐÀÉ͵ķ羰£¬ÊÇ×Ô¼º·Ü¶·µÄ×ã¼£¡£¡¢Ñ¹Á¦²»ÊÇÓÐÈ˱ÈÄãŬÁ¦£¬¶øÊÇÄÇЩ±ÈÄãÅ£¡Á¼¸±¶µÄÈËÒÀÈ»±ÈÄãŬÁ¦¡£

. .