Research On Control System Based On Virtual Prototype Of The Inverted Pendulum

The inverted pendulum is a representative mechatronics system. The inverted pendulum system is a typical model of single-input and multi-outputs,multivariable,nonlinearity,strong-coupling and instability.The inverted pendulum system is a typical experiment device,it has the vivid and intuitionistic teaching characteristics,and it has the important value in research of control theory.The research of inverted pendulum has many important realistic meaning ,such as the walking of bipedal robot,the lunching process of rocket and flying control of helicopter,and many correlative productions has applications in the field of technology of spaceflight and subject of robot.For a long time, it arrests many people in control theory and its application area.This paper has analyzed the research and development course and actuality of the inverted pendulum system,this thesis deduced the mathematical model and analyzed the characteristic and controllability of the inverted pendulum, the instability of the inverted pendulum was verified by the Order step-response.Established the virtual prototyping by using the multi-body system dynamic simulation software of ADAMS,a detailed discussion on how to use the virtual prototyping by the software of Simulink to get an organic connection with the controllers and demonstrated the simulation process of electromechanical integration system.Used root locus method and frequency response method to design the controller respectively.By comparing the control effect between mathematical model and virtual prototype with the same controller, the superiority of the virtual prototype was shown sufficiently.Finally discussed the fuzzy control theory and design process of fuzzy PID controller.The dual fuzzy PID controller was connected in series to control the postion and angle of the inverted pendulum and got a good result.