Research On Control Of Inverted Pendulum

Inverted pendulum system is multivariable, nonlinear, strong-coupling and instability naturally. It is a rather perfect experiment tool in the research of automation. The research of inverted pendulum has many important theoretic realistic meanings in the research such as the walking of biped robot, the lunching process of rocket and the flying control of helicopter.This thesis uses inverted pendulum system as a research object. Research background and various control methods of the inverted pendulum system are introduced ,as well as modern control, variable-structure control, fuzzy control, and neural net control methods and so on.Compared with Newton mechanics, Lagrange equation of Analysis mechanics is used to build inverted pendulum mathematical model. It simplifies the process of building model greatly. Then the controllability of inverted pendulum system near the balance position is researched based on the model.The application of the classic control theory is studied on the base of 1-stage pendulum, include system regulation base on the analysis of root locus and frequency response and, PID controller. The simulation experiments results are presented using the SIMULINK.Depended on the characteristic of inverted pendulum and internal relation of input variable, a weighted control method based fuzzy composed variable is proposed. The simulation experiments results are also given. The influence of he quantification factors to the performance of the controller is studied by the results of simulation.At the end, the googol pendulum system is introduced briefly, include the important parts of the system. The LQR controller is studied both on simulation system and the real system. And the result of the experiments is analyzed simply.