Study On Controlling The Double Inverted Pendulum--Based On The Single Chip

The inverted pendulum is regarded as the typical experimental equipment and a physical model for the teaching and studying of the control theory. One can not only solve the control theory problem, but also put the mechanics, mathematics and electrics(including computer)together through studying the inverted pendulum. Also the inverted pendulum provides a bridge for the engineering science from the control theory to the practice.The inverted pendulum is a natural unstable equipment and can effectively reflect many matters in the control process. The model of the inverted pendulum is: as an equipment, low cost, simple machinery, easy to perform all kinds of controls in simulation and digital; as a controlled object, quite complex, high orders, instability, non-linearity, strong coupling system. We can keep it stable through some control method.This paper establishes the mathematic model according to the second law of Newton and the foundation of the dynamics and analyses respective the force of cart and pendulum adopted the concept of "the equivalent cart" to linearization. The paper specialize the control ability of pendulum system using linear system theory and perform the control of the inverted pendulum applying state feedback theory through pole collocate. In the following the inverted pendulum system is analysed through puzzle control theory,fabricate puzzle control formula and realize the control of inverted pendulum.The single chip system is constructed which can control the double pendulum, including forward channel,back channel and communication with computer. And then the software design and flow chart for the single-chip system are expressed. At last the paper discuss the non-linearity factor and disturbance factor in the inverted pendulum system, at the same time illuminate some rules in the contrive electrocircuit board.