【正文】 MI (linear matrix inequality method) proposed non fragile sufficient conditions for the existence of robust H? controller, using the MATLAB LMI toolbox to solve the characteristics of the controller values. In the design of state feedback controller, the method of solving Riccati equation is adopted.. As for generalized controlled object, the evaluation index of the identified has bee the key to the system design. Therefore, this paper considers all aspects of the problem, bined with the actual situation, in the theoretical analysis and the simulation process repeated verification, obtained the reasonable parameters, guarantee the design the state feedback controller is reasonable and effective. Keywords: H? control, inverted pendulum, state feedback, ADAMS simulation, LMI method. 北華大學(xué)學(xué)士學(xué)位論文 目 錄 第一章 引言 ....................................................................................................................... 1 研究的目的及意義 .................................................................................................. 1 國(guó)內(nèi)外 的研究現(xiàn)狀 .................................................................................................. 2 倒立 擺控制系統(tǒng)的研究歷程 ........................................................................ 2 倒立擺控制系統(tǒng)的工程背景 ........................................................................ 2 魯棒控制理論的發(fā)展 .............................................................................................. 3 ? 控制理論 ............................................................................................................. 4 第二章 預(yù)備知識(shí) ............................................................................................................... 6 倒立擺控制系統(tǒng)概述 .............................................................................................. 6 穩(wěn)定性理論概述 ...................................................................................... 6 穩(wěn)定性的概念 ................................................................................................ 6 穩(wěn)定性定理 .................................................................................... 7 函數(shù)的構(gòu)造 ..................................................................................... 8 線(xiàn)性矩陣不等式 (LMI)方法 .................................................................................... 8 線(xiàn)性矩陣不等式 (LMI)方法概述 .................................................................. 8 LMI 工具箱介紹 ............................................................................................ 8 線(xiàn)性矩陣不等式編輯器 ——LMIEDITl....................................................... 9 魯棒 H? 控制理論基礎(chǔ) .......................................................................................... 10 簡(jiǎn)介及基礎(chǔ)知識(shí) .................................................................................... 11 第三章 單級(jí)倒立擺實(shí)驗(yàn)系統(tǒng)研究 ................................................................................. 13 單級(jí)倒立擺的實(shí)驗(yàn)設(shè)備 ........................................................................................ 13 機(jī)械系統(tǒng)分析 ........................................................................................................ 13 執(zhí)行機(jī)構(gòu) ................................................................................................................ 14 傳感器檢測(cè)及其接口電路設(shè)計(jì) ............................................................................ 15 直線(xiàn)一級(jí)倒立擺的牛頓 —?dú)W拉方法建模 ............................................................ 15 倒立擺控制方法 .................................................................................................... 16 第四章 單級(jí)倒立擺的魯棒控制器設(shè)計(jì) ......................................................................... 17 控制器設(shè)計(jì)方案探索 ............................................................................................ 17 基于 LMI 的狀態(tài)反饋控制器的設(shè)計(jì) .................................................................. 17 仿真及其結(jié)果 ........................................................................................................ 18 系統(tǒng)組成及建模 .......................................................................................... 19 仿真結(jié)果 ...................................................................................................... 20 北華大學(xué)學(xué)士學(xué)位論文 第五章 單級(jí)倒立擺 的 ADAMS 仿真 ............................................................................. 22 仿真流程 ................................................................................................................ 22 基于 SolidWorks 的 單 級(jí)倒立擺三維建模 ........................................................... 22 基于 ADAMS 的 單 級(jí)倒立擺 建模 ........................................................................ 23 單 級(jí)倒立擺 的 ADAMS 動(dòng)態(tài)仿真 ........................................................................ 25 運(yùn)行仿真計(jì)算 .............................................................................................. 25 結(jié)果后處理 .................................................................................................. 25 第六章 淺談非脆弱性魯棒控制器設(shè)計(jì) ......................................................................... 27 非脆弱魯棒控制器方案描述 ................................................................................ 27 非脆弱魯棒 H? 控制問(wèn)題的求解 .......................................................................... 28 總結(jié) ..................................................................................................................................... 39 致謝 ..................................................................................................................................... 30 參考文獻(xiàn) ............................................................................................................................. 31 附錄 ..................................................................................................................................... 33 北華大學(xué)學(xué)士學(xué)位論文 1 第一章 引 言 研究的目的及意義 倒立擺控制系統(tǒng)是以倒立擺裝置為被控對(duì)象的一個(gè)不確定性系統(tǒng)，具有非線(xiàn)性、不穩(wěn)定、復(fù)雜多變量和強(qiáng)耦合