Sistema Control Pendulo Pid

��

P��: G�� B�� M�� M��: �� A��: H�� A�� L�� E�� I�: 00012332

�� I��: E� �� , �� PID (P�� I�� D��). E� �� 1.1

M�� : P�� PID � �� . L�� PID, �� : �� (P), �� (I) � �� (D). E�� P, I, PI, PD � PID � �� 1.2

�� . L� �� :

            

D�� :

       

(2)

��

  

E�� PID, �� , �� , �� 0� �� .

   



D�� 2.1

E� ��:

        

� �� . E� ��

   �    � �� (2) �� :   

� �� 2.2

� �� (�� 2.3) � ��  , �� (�� 2.4) �� O��H.



F�� :

D��:

E� �� (�� ) �� . E�� . E� �� H�� . L� �� . �� O��H � ��  ��  .





 �� ,



��  , �� . �� , �� ω�ј�� . �� ω, �� : E� ��:

     

P�� :

  

D�� P��:

  

� ��

 .

�� , �� N��, �� :

 .5* .45* .6*

��



∞ 1/1.2* . .5*

 



0 0 .125*



�� 1.1

 � �� , �� (2):      

� ��

1 � 1 �  

� �� . ��

A�� : A�� E��L��:

ℒ −

E� �� K �� .

  − ∗  ∗ ℓ ∗ �� 

12 ℓ ∗ c��� � 21 −ℓ ∗ ���  = 12 ℓ� 

 ��:

ℒ = 12 ℓ� �  ∗  ∗ ℓ ∗ C�� 

��:



�� :

 ℒ − ℒ      ´

E� ��:

 ℒ   ∗ ℓ��   ´

ℒ  − ∗  ∗ ℓ ∗�� 

P�� :

 ℒ − ℒ   ∗ ℓ��   ∗  ∗ ℓ ∗ ��      ´

M�� :

 ∗ ℓ��   ∗  ∗ ℓ ∗��   D��

��:

1∗ ℓ  −  ∗  ∗ ℓ ∗ ��  ==   1 � =    �     ∗ ℓ  −  ∗  ∗ ℓ ∗ ��    =    1  =  ∗ ℓ  −  ∗  ∗ ℓ ∗ ��  ��  

�� :

´

′

´´

��

�

:

L�� : F�� 1:

F�� 2:

E��:

 =   = 1  = −   =   =   =  1∗ 

P�� :

�� :

  1  �  � = − ℓ  ∗  � �  1∗  ∗   = 1  ∗    =  ∗  −  ∗ 

�� :

E� ��:

 −  = 1 −  ∗  −    −1 1  −  =  � ℓ ∗ ℓ    −  =  1� ℓ ∗ −ℓ 1  �   1�   −  = − ℓℓ  ℓ  � ℓ  � ℓ �� :

 =  � ℓ ∗  �� :

 =   =  �

�� :

A�� A�� B��:

H�� :

D�� :

  =  �  ℓ � 

E� �� , �� : ��:

ℓ = 1

�=1;

N�� :

 �  � 9181

�� :

  P��

1



9811 0

981/100



�� 0

 >   = 1  = 1   981  =  �  � 1  =  � 1 � 1981 981     1 � ��

P�� 0 �� 1

P�� :

��

�� ω�ј

�� : ��:

I��:

− � ��  � �

�� :

��:

 ��  � ��  � �� (��

�� :

�

��:

D��

�� ω:

��:

 � �∗ ∗  � �  � � ∗   � � ∗   � ��∗  ��(��  ��∗   �  � (�� (��

 �  �� 1.1 � �� PID:   �� .6* .5*

��

�� :

 � ��(�� ∗  (�� � ��  � �5 ∗ �� (��





.125*

∗  (�� � ��5��5  � ��5 ∗ �� (�� P�� :

�  ��5��5 ∗   � ��  �� ∗ �  ��5�5 ∗   � �  �� ∗   ��  � �� 5 ��  �  �� ∗  ��

�� MA�LAB

��

�� 100

G��

��

��

A� �� , �� PID, �� .

�� . (�.�.). �� 28 �� 2011, ��

��://��.��.��.��.��.��/��2/C��III��2.�� , �. (M�� 2002). C�� A��. �� . ��, A��. M��, G. B. (28 �� M�� 2011). A�� . �� . D.F., M��.

O��. (1998). �� . E� �. ��, ��

Sistema Control Pendulo Pid

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