Study Of Inverted Pendulum Based On Fuzzy Control Algorithm

Inverted pendulum system is a typical experiment of automation theory, because it is low-cost, simple-structure and its parameters are easy to adjust, which is a multivariable,nonlinear,high-level,strong coupling,instable absolutely system. Study of inverted pendulum is very important for the Control process of biped robot walking and rocket launched ,for its movement is similar to human walking. At present, lots of scientific research are applied to aerospace and robotics.In this paper ,inverted pendulum system is the researched object.This paper reviews research status of inverted pendulum system at home and abroad ,and proposes an control algorithm for treble inverted pendulum The paper establishes the linear mathematical model for one-step,two-step and treble inverted pendulum, analyzes detailedly its controllability and observability. Chapter 3 of this paper introduces the optimization of PID parameters based on genetic algorithm, optimizes the parameters P,D in the double PD controller and coefficient of treble inverted pendulum by genetic algorithm, and make a simulation experiment in MATLAB; Chapter 4 of this paper is about adaptive fuzzy-tuning PID control, introduces the principle of fuzzy control, the design strategy of fuzzy controller and the principle of fuzzy adaptive PID control tuning; Chapter 4 of this paper designs a fuzzy controller to adjust the parameters P and D for treble inverted pendulum system , sets up SIMULINK module of the system ,and compares the simulation results. The paper analyzes the experiment results and verifies the superiority of adaptive fuzzy-tuning PID control. The simulation results show that the control method proposed in this paper can be used to obtain optimal solution and can control the inverted pendulum system.The paper finally summarized the key findings and analysis, identified the future research direction.