Study Of The Pendulum Control System Based On Network Environment

Networked control system (NCS) is objectively needed by complicated control systems and remote control systems,Compared with the traditional point-to-point control systems, NCS has enormous advantages such as the information resources can be shared, less line connecting, easy to system extension and maintenance, higher reliability and flexibility, and so etc. However, problems such as network-induced delay, packets dropout, and multiple-packet transmission are unavoidable because of the constraints of the communication bandwidth, and it can degrade the performance of control systems even make control system unstable.The control of inverted pendulum system has been considered an intriguing problem for a long time in control theory and its application field. It is well known as a test bed for new control theory and techniques. As a higher-order nonlinear and unstable system, the stability control of inverted pendulum system is very difficult and it is a primary challenge for researchers in this field. The following parts were included in the paper:First, the network control system was introduced in this paper, then pointed out the characteristics of the network control system and the direction of future research.Secondly, this paper establishes the mathematical model of pendulum, then introduces a TrueTime Simulation Toolbox used in real-time control system in MATLAB environment, then analysis the influences to the control system caused by interfere node bandwidth,network transmission rate,network delay ,etc, with the pendulum system as controlled object.Subsequently, use classical PID control theory and fuzzy control theory to control the pendulum , and study the control effects under the network delay. From the simulation results we can see this method can not control the pendulum system stabile, when the delay enlarged.In order to solve the time-delay problem of the network control system, this paper put forward a control method: fuzzy-PFC control. This method combines the fuzzy control and PFC control, and then use TrueTime toolbox to simulink the pendulum system under the network environment, and then contrast the control effects with the fuzzy control effects, then we can see this method is better than the fuzzy control. Analysis and example demonstrate that TrueTime can simulate the multitasking real-time control systems confirmed by analyses and examples, and the capacity and efficacy of this toolbox in the simulation of the real-time control system is shown.Finally, the network control experiment design method of inverted pendulum system was put forward combined with the property of CAN bus.