The Intelligence Control To The Double Inverted Pendulum

The control of the two-stage inverted pendulum is a traditional question in the control field. The two-stage inverted pendulum system is a multivariable, highly nonlinear and absolutely unstable dynamic system. In the modern mechanical control system, there is the same problem in the helicopters ,the emitting of the rocket and the emitting of the satellite. In our lives , there is also the same question in the gym ,skating and driving by bicycle. So the research of the inverted pendulum is very important both to the project and to our lives.The traditional PID control keeps its authority position . The inverted pendulum can stand for a long time using this method. But the parameters has many and are very difficult to be adjusted. Hence , we designed another method ,that's the state-of the-art method.We get the math module according to the second law of Newton and the foundation of the dynamics, analysis the force of the cart and pendulum, and adopt the concept of "the equivalent cart ". During writing the equitation of the system, the equitation has been processed by linear. At last , we get coefficient of the variability . As a conclusion , the inverted pendulum can stabilize at a limit-loop. And this has never been noticed in the other documents.The intelligent control has played an important role in the control of the multi-variability. In the state-of-the-art method, there is approximate, and there are many unstable factors. So now we adopt the intelligence control, It needs many detailed jobs .We observe the positions and angles of the pendulum in order to decide the force. So that we can establish the rule sheet accurately. How to get the rule sheet, you can use the traditional method in the book, and you can also use MATLAB or C programming . Through the intelligence control on the inverted pendulum, we conclude this method is very useful, and the inverted pendulum can stand for a while.You can use this method on the other apparatus ,there should be very good. In addition , if we consider more parameters ,maybe the control effect will be better.