The Intelligence Control Method Research Based On Multistage Inverted Pendulum

Inverted pendulum system is a typical system of fast, multi-variable and instability. It has far-reaching significance for nonlinearity research whatever in theory and method. Researching Inverted pendulum system can induce to research the system for nonlinearity, multi-variable and instability. It's control method had broad purpose in deal with general industry process. Inverted pendulum system is the perfect platform carrying through control theory research.This thesis primary researches how to design fuzzy controller using fuzzy control method in the 1-stage and 2-stage Inverted pendulum system, and makes experiment about real-time stabilization control in the Inverted pendulum system.First of all, this thesis analyses the structure and mathematic model of Inverted pendulum system. And it introduces the hardware component about the Googol linear 1-stage and 2-stage Inverted pendulum.Then, it uses the fuzzy control theory to design fuzzy controller for the linear 1-stage and 2-stage Inverted pendulum system. This thesis adopts the double closed loop fuzzy control method in 1-stage linear Inverted pendulum. Based on non-model control theory, the method uses interior loop fuzzy controller to control the angle of pole, and uses exterior loop to control the position of car. If we use ordinary fuzzy control method to design, the rule base would have 625 rules. Double closed loop designs two controllers to simplify fuzzy rule. The method solves the problem about rule explosive. It actualizes stability control in the Googol linear Inverted pendulum system, and analyses the advantage and disadvantage through the simulation result.At last, it controlled the linear 2-stage Inverted pendulum using the optimization quadratic method to design the amalgamation function. The main principle is that used the amalgamation function to syncretize the 6-variable that Inverted pendulum system coupling is very strong in 2-variable that error E and error variety rate EC. Then designs the controller to control the two variables. The method has succeeded in the Googol linear 2-stage Inverted pendulum system and carries out stabilization control. It has excellent stabilization and anti-jamming, and achieves the anticipative purpose.