| The inverted pendulum is a typical high order system,with multivariable,nonlinear,strong-coupling,fleet and absolutely instable.It is representative as a ideal model to prove new control theory and techniques. In the controlling process, it can effectively reflect many key problems such as robustness and tracking in control.In recent years, many scholars have been studing the inverted pendulum by all kinds of methods. In spite of that, we begin to study it just now.So to heighten the theoretical level of controls, we have to apply some control methods which realize the stabilization of the inverted pendulum by dint of our strength.The paper is based on the double linear inverted pendulum model, after concisely introducing the development and current situation of inverted pendulum system research, the mechanism and mathematical model of inverted pendulum are presented,mathematical model of the double inverted pendulum is particularly educed.Secondly, the thesis discusses mainly the control methods of inverted pendulum system based on modern control theories and intelligent control theories. In this paper, the pole-placement method,optimal control.variable structure controller and fuzzy controller are designed to stabilize the double inverted pendulum.It discusses the design method and points out the advantages and disadvantages of these controllers through digital simulationsby MATLAB and SIMLTLINK. The simulation results show that the intelligence control strategy not only the requirement of the nonlinear system can be met, but also the control criterion of the system can be extremely improved.The system has great dynamic characteristics.At last, The controller's program of single and double inverted pendulum system have been designed and tested, It is glad that the results of the experiments are very good, and analysed the result of the experiments.At the end of the paper, we summarize the significance of the research, the work task and the focal point in the future. |
PDF Full Text Request