The Study And Application Of The Control Algorithm For Multiple Inverted-Pendulum

Inverted-pendulum is a non-linear, coupling, variable and natural-unsteadiness system. During the process of controlling, pendulum can effectively reflect many pivotal problems such as equanimity, robust, follow-up and track. So, it is a perfect model to test various control theories.Firstly, the paper reviewed the present situation in the research area to the inverted-pendulum at home and abroad. To the common control algorithms, the paper did a clear expatiation. The main content and the research methodology of the subject were also been explained. In the second chapter, the physical structures of the single, double, and triple inverted-pendulum were introduced. The mathematical models were established and the inferential processes were shown. By analyzing the controllability and the observability to the models, the author discussed the feasibility of the linear-quadratic regulator (LQR) control algorithm controlling multiply inverted-pendulum. In the third chapter, by the using of MATLAB as the simulation tool, a series of experiments in which some added interrupt signals were designed to control the poles' swing steadily. Also by the contrast and analysis to the simulated data, the paper discussed the rule to choose the parameters of the weighted matrix Q. In order to achieve a more visualized simulated effect, the author also designed the simulation animation program by the using of MATLAB language. These results of the experiments indicated that the using of this method based on the above theories to control the single, double, triple inverted-pendulum could achieve a good control performance and the system has the antijamming ability. The fourth chapter briefly introduced the experiment platform and the hardware structure of the system. In the parts of the design to the software, the modules of the real-time control system were introduced firstly. Then, some analysis was done to several considerable questions, including the initialization of the movement controller, the interrupt service routine and the operational safety mechanisms of system. A clear illumination was described integrated with the codes. The program was compiled and debugging under the Turbo C environment. The paper finally summarized the key findings and analysis, identified the future research direction.