基于倒立摆的PID控制算法的研究

摘要

In the paper, a mathematical model of linear single inverted pendulum is established. The PID controller is designed for inverted pendulum. The control parameters of the PID algorithm is tuned properly by using of stability boundary method. The simulation experiment through Matlab/Simulink show that the PID algorithm can effectively control the pendulum angle of the inverted pendulum.%建立了直线一级倒立摆的数学模型,设计出倒立摆系统的PID控制器,并使用“稳定边界法”快速整定了PID算法的控制参数,最后通过Matlab/Simulink进行了仿真实验.结果指出PID算法能够有效控制倒立摆的摆杆角度.