Study And Application On The Intelligent Control Method Based On The Inverted Pendulum

The inverted pendulum system is a typical single input and multiple outputs, nonlinear, high order, unstable system. The research on the accurate control of the inverted pendulum has great engineering value to the control of the complex industrial object. The paper is based on the linear inverted pendulum of GUGAO Company. Simulations and experiments are done on the inverted pendulum using all kinds of control arithmetic and corresponding conclusions are given in the paper.At first, the background and research actuality of the inverted pendulum are introduced in chapter 1. The paper indicates the type of the inverted pendulum researched and introduces many control methods.In chapter 2, all kinds of control arithmetic on the nonlinear system are concluded.In chapter 3. nonlinear model and linear model of the single and double inverted pendulum are given.In chapter 4, PID method is used on the single inverted pendulum and the double inverted pendulum. It concludes that the PID method can't stabilize the inverted pendulum.In chapter 5, LQR method is used on the inverted pendulum system. The control is successful to the linear model.In chapter 6, fuzzy control and cascade fuzzy control are designed on the single inverted pendulum system. Satisfactory results are got in both the two simulations. At the same time, the paper compares the two methods from the principle and the curves.Fuzzy control based on the synthesizing variables is adopted in the double inverted pendulum system. That is, six variables are synthesized to two so that the rules are simpler. The method is also successful. In addition, cascade fuzzy control method and shunt-wound fuzzy method are designed in the paper. But, the effects ofthe two methods are not so good.In chapter 7, NN fuzzy control is discussed. At first fuzzy controller based on theT-S model is designed. Membership functions of the variables are adjusted after the study on the sample data. The paper compares the membership functions and the control curves before the train and after the train. It concludes that the effect after train is better than the before clearly.In chapter 8, all the control methods are used in the actual inverted pendulum system. The PID control on the single inverted pendulum, LQR control on the single and double inverted pendulum, fuzzy method based on the mamdani model and fuzzy method based on the T-S model are all experimented.In chapter 9, it summarizes the paper and advances conceive in the future.