Research On Intelligence Control Algorithm Of Inverted Pendulum System

Inverted pendulum system is a typical experimental research installation, low cost, simple structure, easy to adjust the parameters and structural advantages, but inverted pendulum system itself is the high times of instability, multivariable, strong nonlinear and coupling characteristics, is absolutely unstable, and used to be an effective control strategy to make it stable. Inverted pendulum system is a variable structure control, nonlinear control, goal control intelligent control and other methods to control the ideal platform.Fuzzy control theory is introduced to study simulation and the controlling problem in realtime of inverted pendulum in this paper. Success of control of hardware pendulum system proves that this controller has very good stability and adaptability. Main research work is declared below:1. The mathematical model of single and double inverted pendulum is proposed. It is proved that open control system is instability, but it is controllable and observable on equilibrium point.2. Research on fuzzy control algorithm of inverted pendulum system. The dimension of input varieties of fuzzy controller is depressed by designing a fusion function using optimization control theory, 'rule explosion' problem is solved.3. Research on variable structure control algorithm of inverted pendulum system. Variable structure control of inverted pendulum is designed by constant switch and proportion switch.4. The simulation of fuzzy control and variable structure control of inverted pendulum system. Simulation experiment of the fuzzy control of inverted pendulum is very well implemented by using fuzzy control theory that the result shows that it not only has quite good stability, but also is able to make the cart of the pendulum moving to the place where it is appointed in advance, along the orbit.5. Inverted pendulum hardware system is realized. The response curves of each state variable and the curve of control quantity when the pendulum is stable or being disturbed are presented. At last, several photos when the pendulum is stable are shown.