Study On The Control Of The Inverted Pendulum In Networks

Based on the control method of the inverted pendulum under the single computer, the control of the inverted pendulum in the networks is mainly researched in this paper, the effectiveness of several kinds of networked schedule policy and networked model to the performance of the inverted pendulum system is analyzed, and two kinds of the improved method for the control of the inverted pendulum in networks is proposed and applied to the swing-up and stabilization of the inverted pendulum. The control performance of the inverted pendulum in networks is greatly improved. The main contents are included as following: Firstly, the development of the inverted pendulum and the networked control system are reviewed. And some results are introduced. The models of the single inverted pendulum and the double inverted pendulum are deduced through Lagrange method. The problem, which is mainly studied, is also showed. And then, aimed at the swing-up and stabilization of the inverted pendulum under the single computer, two switched strategies are proposed, i.e. the switched strategy between the sympathetic vibration and the LQR method and the switched strategy between the Bang-Bang control and the pole placement method. And in the simulation, the swing-up and stabilization can be obtained through both the methods, and the better performance can be obtained. However, the second method is more suitable to the real inverted pendulum than the first method. Secondly, aimed at the control problem of the inverted pendulum in networks, the effectiveness of the networked schedule policy and the networked model to the performance of the control is compared and analyzed. And the principles of choosing the networked schedule policy and the networked model are proposed. And then, based on the above knowledge, two improved control method is proposed, i.e. Moving Pole method and the fuzzy switching strategy. The better performance is obtained through the proposed method when the networked schedule policy and networked model is unchangeable. Finally, the effectiveness of the control method under the single computer is shown on the real inverted pendulum. The networked control software is developed based on the improved control method. And the function and the development procedure of Networked Control Port and the network interface in the MATLAB are shown, the control of the real inverted pendulum in networks is realized through the developed software.