Research On Balance Control And Internet Based Experiment Of Inverted Pendulum

Aiming at the balance control of an inverted pendulum and remote monitoring technique, this thesis presents two control strategies and sets up an Internet-based experiment system. The main work of this thesis is summarized as follows:Firstly, a new control strategy -- LQR fuzzy control based on T-S model is presented, which is better than the classic LQR. LQR is a control strategy for the linear model. When the angle of the pole of the inverted pendulum is big enough, the plant model will not be linear any more. So, this thesis sets up the T-S model of the inverted pendulum with more suitable control parameters in each fuzzy subset. As a result, the whole control system showes better performance. Real experiments illustrate the effectiveness of the designed controller.Secondly, some research work on PID control of inverted pendulum is carried out. After redesigning the more suitable PID parameters to control the angle of the pole of the inverted pendulum, the PID control strategy with position limiting is presented, which aviods the collision of the cart to the wall and makes Internet-based PID experiment feasible. Another new control strategy -- Fuzzy PID is proposed, which includes three closed loops. Practical experiments proved that this strategy can control multiple variable of inverted pendulum with a certain accuracy.Finally, using remote monitoring technique, an Internet-based experiment system, taking the inverted pendulum as a control plant, is presented. The whole system consists of three parts: the first part is to modify original local control program so as to meet the real time remote control requirment; the next two parts are 3 C/S frame of server and client respectively. Having been designed, programmed and debugged, the system can work successfully.This thesis makes an effort on combining the control theory with the practice. All control theories come from the real experiments of the inverted pendulum and are proved by the experiments then. Through the research of this thesis, according to such plants as inverted pendulum which is fast, nonlinear and with multiple control targets, the appliance of LQR, PID control strategies is widened, and one feasible remote monitoring blue print is provided.