倒立擺建模仿真與控制畢業(yè)設計

畢業(yè)設計報告(論文)論文(設計)題目倒立擺建模仿真與控制作者所在系部作者所在專業(yè)作者所在班級作者姓名作者學號校內導師姓名校內導師職稱校外導師姓名校外導師職務（稱）校外導師單位完成時間教務處制XVIII附錄MATKLAB仿真的程序：Length=0.2;Quality=0.1;Quality_O=0.2;Angular=pi*(5.0/180.0);Angular_last=Angular;Angular_read=Angular*180/pi;Angular_read_last=Angular_read;g=9.8;Acceleration=0;Acceleration_Add=0;Acceleration_O=0;Speed_G=0;Speed_O=0;Speed_last=0;Speed_O_last=0;S=Speed_G-Speed_O;S_last=0;Speed=Speed_G–Speed_O;Angular_Speed=Speed/(Length*0.5);Distance=sin(Angular)*Length*0.5;Distance_O=0;D=Distance–Distance_O;G=Quality*g;Time_s_last=0;Angular_Add=0;i=0;j=0;flag=0;Angular_Speed=0;Angular_A=0;M_Plot=0;P1=1;P2=52500;I=Quality*Length*Length*0.25;F4=0;forTime_us=0:1:1000000 Time_s=Time_us/1000000; M=G*Length*sin(Angular)*0.5;Angular_A=M/I;F2=G*sin(Angular);F3=(Quality_O*F2*sin((pi/2)–Angular))/(cos((pi/2)–Angular)*Quality);Acceleration=(F2*cos(Angular))/Quality;%%F4=Angular_read*P1+(Angular_read–Angular_read_last)*P2;M4=F4*Length*0.5;Angular_A_4=M4/I;Acceleration_4=Angular_A_4*Length*0.5;Acceleration_Add=Acceleration_4;Acceleration_O=(F3*sin(Angular)/Quality_O)+Acceleration_Add;%Speed_last=Speed_G;Speed_G=Speed_G+Acceleration*(Time_s–Time_s_last);Speed_O_last=Speed_O;Speed_O=Speed_O+Acceleration_O*(Time_s–Time_s_last);S_last=S;S=Speed_G–Speed_O;Distance=Distance+Speed_G*(Time_s–Time_s_last);Distance_O=Distance_O+Speed_O*(Time_s–Time_s_last);D=Distance–Distance_O;ifD>Lengthbreak;endSpeed=Speed_G–Speed_O;Angular_Speed=Speed/(Length*0.5);Angular_last=Angular;Angular=asin((Distance–Distance_O)/(Length*0.5));Angular_read_last=Angular_read;Angular_read=Angular*180/pi; Time_s_last=Time_s;i=i+1;ifi>=1000i=