Design Of The Inverted Pendulum And Research Of The Nerve Cell Control

This paper has two purposes: one is that one inverted pendulum based on single nerve cell adaptive PID control theory will be researched. The other that a suit of machine and structure of triple inverted pendulum will be designed.In this paper, Firstly, basing on a suit of pendulum control system in existence, the mathematics model of one inverted pendulum was set up. Then, a two-loop controller of one inverted pendulum was set up using single nerve cell adaptive PID control theory. In the following, we had one inverted pendulum simulation in Simulink. Next, we had control experiment in one inverted pendulum system. After having experiment time after time, we were succeed in stabilizing one inverted pendulum. Last, basing in the results of simulation and experiments, we found problems and insufficiencies in the old inverted pendulum. In the end, we designed and done a suit of machine and structure of triple inverted pendulum. In the meanwhile, the correlation hardware circuits were also designed.The paper has three research results. One is that a two-loop controller of one inverted pendulum was set up using single nerve cell adaptive PID control theory. Two is that we are succeed in stabilizing one inverted pendulum. Third is that we designed and done a suit of machine and structure of triple inverted pendulum.