| Inverted pendulum is a typical experimental equipment which is usually used to verify a new control theory and technique.The theory of changeable universe of discourse is employed to solve the contradiction between the control performance and the number of fuzzy rule,in order to effectively control the double inverted pendulum in this paper.The fundamentals,characteristics and progress of fuzzy control is summarized,and the present research on inverted pendulum is recapitulated in the paper.The nonlinear mechanism model of the double inverted pendulum is built respectively by means of Newton law of motion and Lagrange equations,and its linearization and performance analysis are carried out.The variable-weighed fuzzy control theory with changeable universe of discourse,which combines pole placement and weighed variables and fuzzy control with changeable universe of discourse,is proposed to control a double inverted pendulum,which is of multi-variables,non-linearity,strong coupling and instinct instability.The control simulation of the double inverted pendulum in Matlab/Simulink indicates that the control strategy proposed in this paper is correct and effective,and achieves better control performance than feedback based pole placement or conventional fuzzy control.Finally,the experimental system of the double inverted pendulum is introduced,and its practical control next is prepared. |
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