基于ADAMS和MATLAB的双回路PID控制倒立摆联合仿真

倒立摆系统是典型的快速、多变量、非线性、绝对不稳定系统,是检验各种控制理论的理想模型。研究了倒立摆系统的构成并建立了数学模型,针对摆杆角度和小车位移两个输出量采用双回路PID控制并设计了PID控制器,在ADAMS软件中建立了倒立摆系统的机械模型,在MATLAB软件中建立了控制模型,通过接口实现了双回路PID控制倒立摆的联合仿真。文中方法直接从ADAMS中产生机械系统仿真模型,避免了推导、列写较复杂的方程描述机械系统,大大简化了建模过程,而且能够更直观地观察仿真结果。

Co-Simulation of Double-loop PID Control Inverted Pendulum based on ADAMS and MATLAB

Inverted pendulum is a typical fast,multivariable,nonlinear,absolutely unstable system.And it is perfect experimental equipment for testing control theories.The composition of the inverted pendulum system is studied and the mathematical model is built.For the two outputs,the pendulum angle and the cart displacement,the double loop PID control theory is used,and the PID controllers are designed for the inverted pendulum system.Meanwhile,the mechanical model of the inverted pendulum system is created in ADAMS,and the control model is created in MATLAB.The simulation is carried out via the ADAMS software and the MATLAB software with the interface.In this method,the mechanical system simulation model is generated directly from the ADAMS.This method can avoid deducing and writing out the complex equation of the mechanical model,which greatly simplifies the modeling process,and can more directly observe the simulation results.