The Research On The Intelligengt Control Algorithm In The Application Of Inverted Pendulum System

Inverted pendulum system is multivariate,nonlinear,strong-coupling and unstable naturally, and it will involve many key issues of system control from the theory in the research of such a complex system.At the same time, in the research of the control of inverted pendulum has important engineering background, the method of its control has extensive field use in theaerospace, robotics etc.The paper is based on further research of principle and structure of the inverted pendulum system and on the basis of the latest research achievements in this field at domestic and abroad, and in the study of control motheds the mathematical model is formulated on the inverted pendulum. Firstly, I use the analysis method of Newtonian mechanics and the analysis of the Lagrange equation to establish single pendulum and double pendulum system to obtain linear model of linear inverted pendulum system state equation.The paper is based on the linear inverted pendulum of Googol Company, and simulations and experiments has been done using several kinds of control algorithems and draw the corresponding conclusions on the linear inverted pendulum.Based on PID control and state space of poles configuration control algorithm for linear level inverted pendulum system for real-time control experiments, the classical theory of control achieved good effect in the application of inverted pendulum.A based on Linear Quadratic Regulator state feedback controller method is designed. Matlab simulations and Real-time experiments are done on the linear model of the inverted pendulum system, and it is maked a more satisfactory control effect.The paper also studies the fuzzy control of inverted pendulum, designs a fusion function to reduce input dimension of controller. Two-dimensional fuzzy controller can be designed on the inverted pendulum decoupling of complex systems, while addressing the fuzzy control to solve such multi-input variable systems, fuzzy rule explosion problem will be encountered, combined with quantitative factors and scale factor on the system performance, in the MATLAB environment, the system of linear double inverted pendulum fuzzy control simulation study has been done and achieved very good results.