| Inverted pendulum system (IPS) is a type of typical complex hard-control system.,The research on it can be representative of that on a nonlinear, multivariable, absolute unstable system. Now there are many achievements concerning about the stabilizing control of IPS at the upright position with intelligent controlling method. But few about swing-up and stabilizing control of the cart-pendulum system by using Simulink of MATLAB, which there is strong nonlinear on it and powerful coupling between cart and pendulum.The problems to be resolved in this dissertation are that, After concisely introducing the development and current situation of inverted pendulum system research, the mechanism and mathematical model of inverted pendulum are presented. Mathematical model of the one level inverted pendulum and two level inverted pendulum is particularly educed in this paper, analyzing any methods of creating mathematical model of inverted pendulum system. This paper also deals with swing-up and stabilizing control of the cart-pendulum system, which moving on stricted track and driving by single motor. Many simulation researches on the control of inverted pendulum have been using MATLAB and SIMULINK under the guidance of human Simulating Intelligent Control (HSIC) theory, we study control algorithms and design the real-time control system. And for finding the best parameters we use GA theory, reached the anticipated intention.We also develop the real-time control system by using Simulink of MATLAB.The real-time intelligent control system, which is designed based on our studies, successfully accomplished swing-up and stabilizing control of a cart-pendulum system. And have reached the anticipated intention.The result proves that: guided by HSIC theory, we can achieve controlling effectively for perplexing system such as cart-pendulum system without knowing the mathematical model previously by using Simulink of MATLAB.
|
PDF Full Text Request