Study On The Double Inverted Pendulum Controlled By The Single Chip

As an inherently unstable system by nature, the inverted pendulum has been used as the controlled device in a prototype real-time control system. One can not only solve the control theory problem, but also put the mechanics, mathematics and electrics together through studying the inverted pendulum. 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.At first, the background and research actuality of the inverted pendulum are introduced. Many control methods of the inverted pendulum are briefly illustrated. And 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 top dispose.The single chip system is constructed which can control the double pendulum, including feedback channel, control channel and single-chip controlling. And then the software design and flow chart for the single-chip system are expressed. And the paper discuss the non-linearity factor and disturbance factor in the inverted pendulum system, at the same time explain some rules in the designing circuit .At last the research on application of predictive control on the double pendulum is gone on. Through using Error Back-Propagation Training, the Neural Network Model of the double pendulum can be distinguished and built .The Model Predictive Control is applied on the double pendulum on the basis of the Neural Network Model of the double pendulum.