设计简介
摘 要
机械工业是一个国家的重要产业，机械工业的发展无时不刻都在影响着国家经济的发展，人类的进步离不开机械工业的发展。在全球经济发展的大环境下，中国各个行业被其他国家的先进技术影响的同时，越来越多的外国企业和品牌传播到中国已经成为现实。在新的市场需求的推动下，对倒立摆机电控制系统进行改良和优化是当务之急。有大型倒立摆机电控制系统生产企业对设备的安全指标的有着一定生产的严格要求。在生产设备的企业，充分考虑到在设备运行中可能出现的问题，从而减少噪声污染引起的振动或不当操作设备的现象等。国内倒立摆机电控制系统设备的研发及制造要与全球号召的高效经济、安全稳定主题保持一致。倒立摆机电控制系统的发展与人类社会的进步和科学技术的水平密切相关。
近期对机械行业中倒立摆机电控制系统的使用情况进行了调查，发现在机械行业中倒立摆机电控制系统的应用场合比比皆是。
本次的毕业设计课题的是倒立摆机电控制系统的设计。本文介绍了倒立摆机电控制系统的结构组成、工作原理以及主要零部件的设计中所必须的理论计算和相关强度校验，该倒立摆机电控制系统的优点是高效，经济，并且安全系数高，运行平稳。本次倒立摆机电控制系统的设计，大大地提高了人们对机电控制系统思想觉悟，并且对后续的倒立摆机电控制系统的开发和研制都有着一定的影响，在某种程度上大大提升了该设备在国内外的竞争力，体现了机械工业重要性这一核心价值。
关键词：倒立摆系统 控制对象 强耦合系统 变量
Inverted pendulum electromechanical control system structure design specification
absraote
Pneumatic manipulator is a automated devices that can mimic the human hand and arm movements to do something，aslo can according to a fixed procedure to moving objects or control tools. It can replace the heavy labor in order to achieve the production mechanization and automation, and can work in dangerous working environments to protect the personal safety, Therefore widely used in machine building, metallurgy, electronics, light industry and atomic energy sectors.
This article is mainly of the pneumatic manipulator the overall design, and pneumatic design. This mechanism of manipulator includes cylinders and claws and connectors parts, it can move according to the due track on the movement of grabbing, carrying and unloading. The pneumatic part of the design is primarily to choose the right valves and design a reasonable pneumatic control loop, by controlling and regulating pressure, flow and direction of the compressed air to make it get the necessary strength, speed and changed the direction of movement in the prescribed procedure work.
The inverted pendulum is a typical high order system, with multi- variable, non-linear,
strong-coupling, fleet and absolutely instable. It is representative as an ideal model to prove new control theory and techniques. During the control process, pendulum can effectively reflect many key problems such as equanimity, robust, follow-up and track, therefore.This paper studies a control method of double inverted pendulum First of all, the mathematical model of the double inverted pendulum is established, then make a control design to double inverted pendulum on the mathematical model, and determine the system performance index weight matrix by using genetic algorithm in order to attain the system state feedback control matrix. Finally, the simulation of the system is made After several test matrix value the results are not satisfactory response, then we optimize matrix by using Genetic Algorithm. Simulation results show: The system response can meet the design requirements effectively after Genetic Algorithm optimization.
Key word: pneumatic manipulator；cylinder；pneumatic loop；Four degrees of freedom.
目录
摘要..........................................................................................................2
Abstract................................................................................................2
第一章 引言...........................................................................................3
1.1 课题的研究背景和意义.......................................................................4
1.2倒立摆系统的工作原理......................................................................6
第二章倒立摆机电控制系统结构的总体设计.................................7
2.1 倒立摆机电控制系统结构的功能需求....................................................8
2.2 系统实现结构图.................................................................................9
第三章倒立摆机电控制系统结构设计............................................10
3.1控制系统的构成.................................................................................11
3.2控制系统硬件电路核心元件的选择....................................................11
3.2.1伺服电机的工作原理及选型计算..................................................12
3.2.2伺服电机的工作原理..................................................................12
3.2.3伺服电机的选型计算..................................................................13
3.3光电码盘的工作原理及作用................................................................13
3.3.1光电码盘的工作原理..................................................................14
3.4直线导杆的选择................................................................................17
3.5同步带轮传动的选择计算...................................................................20
第四章倒立摆机电控制系统中PID的控制算法的实现..............22
4.1PID控制算法简介..............................................................................23
4.1.2PID控制各部分的特点.................................................................23
4.1.3PID控制器各部分参数的选定........................................................23
4.2PID控制算法的实现...........................................................................23
结论........................................................................................................24
致谢........................................................................................................25
参考文献................................................................................................26
机械工业是一个国家的重要产业，机械工业的发展无时不刻都在影响着国家经济的发展，人类的进步离不开机械工业的发展。在全球经济发展的大环境下，中国各个行业被其他国家的先进技术影响的同时，越来越多的外国企业和品牌传播到中国已经成为现实。在新的市场需求的推动下，对倒立摆机电控制系统进行改良和优化是当务之急。有大型倒立摆机电控制系统生产企业对设备的安全指标的有着一定生产的严格要求。在生产设备的企业，充分考虑到在设备运行中可能出现的问题，从而减少噪声污染引起的振动或不当操作设备的现象等。国内倒立摆机电控制系统设备的研发及制造要与全球号召的高效经济、安全稳定主题保持一致。倒立摆机电控制系统的发展与人类社会的进步和科学技术的水平密切相关。
近期对机械行业中倒立摆机电控制系统的使用情况进行了调查，发现在机械行业中倒立摆机电控制系统的应用场合比比皆是。
本次的毕业设计课题的是倒立摆机电控制系统的设计。本文介绍了倒立摆机电控制系统的结构组成、工作原理以及主要零部件的设计中所必须的理论计算和相关强度校验，该倒立摆机电控制系统的优点是高效，经济，并且安全系数高，运行平稳。本次倒立摆机电控制系统的设计，大大地提高了人们对机电控制系统思想觉悟，并且对后续的倒立摆机电控制系统的开发和研制都有着一定的影响，在某种程度上大大提升了该设备在国内外的竞争力，体现了机械工业重要性这一核心价值。
关键词：倒立摆系统 控制对象 强耦合系统 变量
Inverted pendulum electromechanical control system structure design specification
absraote
Pneumatic manipulator is a automated devices that can mimic the human hand and arm movements to do something，aslo can according to a fixed procedure to moving objects or control tools. It can replace the heavy labor in order to achieve the production mechanization and automation, and can work in dangerous working environments to protect the personal safety, Therefore widely used in machine building, metallurgy, electronics, light industry and atomic energy sectors.
This article is mainly of the pneumatic manipulator the overall design, and pneumatic design. This mechanism of manipulator includes cylinders and claws and connectors parts, it can move according to the due track on the movement of grabbing, carrying and unloading. The pneumatic part of the design is primarily to choose the right valves and design a reasonable pneumatic control loop, by controlling and regulating pressure, flow and direction of the compressed air to make it get the necessary strength, speed and changed the direction of movement in the prescribed procedure work.
The inverted pendulum is a typical high order system, with multi- variable, non-linear,
strong-coupling, fleet and absolutely instable. It is representative as an ideal model to prove new control theory and techniques. During the control process, pendulum can effectively reflect many key problems such as equanimity, robust, follow-up and track, therefore.This paper studies a control method of double inverted pendulum First of all, the mathematical model of the double inverted pendulum is established, then make a control design to double inverted pendulum on the mathematical model, and determine the system performance index weight matrix by using genetic algorithm in order to attain the system state feedback control matrix. Finally, the simulation of the system is made After several test matrix value the results are not satisfactory response, then we optimize matrix by using Genetic Algorithm. Simulation results show: The system response can meet the design requirements effectively after Genetic Algorithm optimization.
Key word: pneumatic manipulator；cylinder；pneumatic loop；Four degrees of freedom.
目录
摘要..........................................................................................................2
Abstract................................................................................................2
第一章 引言...........................................................................................3
1.1 课题的研究背景和意义.......................................................................4
1.2倒立摆系统的工作原理......................................................................6
第二章倒立摆机电控制系统结构的总体设计.................................7
2.1 倒立摆机电控制系统结构的功能需求....................................................8
2.2 系统实现结构图.................................................................................9
第三章倒立摆机电控制系统结构设计............................................10
3.1控制系统的构成.................................................................................11
3.2控制系统硬件电路核心元件的选择....................................................11
3.2.1伺服电机的工作原理及选型计算..................................................12
3.2.2伺服电机的工作原理..................................................................12
3.2.3伺服电机的选型计算..................................................................13
3.3光电码盘的工作原理及作用................................................................13
3.3.1光电码盘的工作原理..................................................................14
3.4直线导杆的选择................................................................................17
3.5同步带轮传动的选择计算...................................................................20
第四章倒立摆机电控制系统中PID的控制算法的实现..............22
4.1PID控制算法简介..............................................................................23
4.1.2PID控制各部分的特点.................................................................23
4.1.3PID控制器各部分参数的选定........................................................23
4.2PID控制算法的实现...........................................................................23
结论........................................................................................................24
致谢........................................................................................................25
参考文献................................................................................................26
