A Two-degree-of-freedom Control With Inverse Model On Single-inverted Pendulum

Pendulum is a classic system of control as its nonlinear, great coupling, and Multiple-Input and natural instability feature. It is a standard system for many control theories study and comparison because it' s control can reflect many typical problems of the scheme used, such as nonlinear, stabilization, robustness, following accuracy, tracing ability and other performances. And because of the similarity to rocket flying and two-leg robot walking, pendulum control scheme has much more application in the field of army, astronomy, robot and normal industry, such as balance control in robot walking, vertical control in rocket launching and the pose control of star in space. So research of pendulum control is important to theory and practice.Many schemes existed took a double closed-loop decoupling fuzzy control in case of the difficulty of the direct fuzzy control of the input vector: it means to group the input vector into two sets of angle and position and they were controlled separately.Firstly in this text the influence of the coupling was revealed by a pendulum realized and simulation of angle PD control accordingly. Then in order to restrain the disturbance of the coupling cart position to angle control, proposed effective scheme of two-degree-of-freedom controller with inverse model. Simulation shows that the scheme is feasible for restraining coupling disturbance, which also enhanced the performance of robust stability against model uncertainty disturbance and others.Based on SPMC75F2313A single chip a single-inverted pendulum was realized in this text, controlling only by fuzzy controller of the angle group, its angle was controlled but there being a steady-state velocity of the cart and the pendulum as a whole. All these revealed the equal disturbance of the coupling cart position to angle control. Simulation of angle PD control in matlab language illustrated the same problem of deviation. Then, by simulation a two-degree-of-freedom controller with inverse model rejected the coupling disturbance effectively in single-inverted pendulum.