Design Of Network Experiment System And Control Of Inverted Pendulum Based On Genetic Algorithm

Inverted pendulum is a non-linear, multivariable, strongly coupled, unstable mechatronics system. As a control object which has been widely used,inverted pendulum can not only prove the availability of lots of control methods,but also display various abstract control concepts conspicuously such as stability, controllability and convergence speed. So it has very important effect in the experiment method and research of control theory .In this paper,we take the Rotary Inverted Pendulum XZ-II as a research object. On the basis of analyzing it's structure, we establish the mathematical modle of Rotary Inverted Pendulum , and introduce Genetic Algorithm to the research of PID controller. We use the improved GA to respectively search the optimum parameters of single and double loop PID controller. The simulation result shows that the PID controller based on GA has a good control effect. Finally, on the basis of simulation,we control Rotary Inverted Pendulum system successfully.On the other hand, to construct the network automatic control experiment,we finish the research and design of network teaching experiment system of Rotary Inverted Pendulum based on the client/server structure. The system includes a Rotary Inverted Pendulum, Web server, application server, data server, image server, and remote client computer. Users can conveniently visit the experiment system under the management mechanism of supporting multi-user and implement control experiments according to the experiment mode which has three steps including to set parameters at client, to control inverted pendulum at server, to transmit experiment data through network.