Research On The Virtual Prototype And Control System Of The Inverted Pendulum

The inverted pendulum is a representative mechatronics system. It is a high-order, nonlinear and unstable system, so it is often used to prove whether a new control method is valid or not. For a long time, it arrests many people in control theory and its application area.After analyzing the research and development course and actuality of the inverted pendulum system, this thesis designs its mechanism , deduces the mathematical model of each part , establishes virtual prototype of its mechanics, designs various control methods such as state-feedback, fuzzy control, Sugeno fuzzy control, fuzzy adaptive control, proceeds interactive simulation in MATLAB and ADAMS. Through the simulation, comparing the effect of every kind of control method, analyzingthe influence of mechanics such as length and mass of the pendulum,mass of the cart to the dynamic characteristic of system.This simulation can be used for not only the control-theoretic teaching experiment for undergraduate and graduate student, but also the reference when designing the actual pendulum.