Design And Realization Of The Single Inverted-pendulum System Based On PLC

Inverted-pendulum system is a typical high-rank, multi-variable and serious instable nonlinear system. At the same time, Inverted-pendulum system is difficult to control because its instability. It becomes the wonderful experiment device to verify how about the control strategy in automatic control experiments. This Paper provides a new design of inverted pendulum system controlled by PLC and an investigation by the controlling method of PID, State Space and Fuzzy Control.In chapter 2, We build inverted Pendulum mathematical model with classical and modern control theory.In chapter 3, we compare the actual real-time experiment control results of the single Inverted-pendulum system with the Fuzzy control method, State Space method, and Fuzzy Control method. The linear controller design methods in this representative nonlinear instability system are discussed through theories and practical experiments.We put forward a new design of the inverted Pendulum on a carriage in chapter 4 and layout it's mechanical. We use step electromotor to gain the precise position controlling and through a belt to drive the carriage. The angles of Pendulum are obtained by Incremental Photo-electricity Encoder.In chapter 5, we design the computer controlling system of the inverted pendulum using PLC. This includes the controlling program and synchronous tracing. Fuzzy control needn't precise mathematical models. We use it and obtain good results, It Provides a fine reference for the similar controlling Problems.We test the whole system in chapter 6 and confirm the feasibility of the Inverted-pendulum system controlled by PLC, what's more, we give some advice to make it better.