Stable Control Of The Double Inverted Pendulum

As a typically instable and severe non-linear system, the inverted pendulum is all the time a research focus in control theory, and it is also used as an experimental equipment to test the performance of newly developed or advanced control strategies. State feedback pole-placement control algorithm is employed, and software programming and hardware debugging are carried out in this thesis to implement stable control of the double inverted pendulum in laboratory.Firstly, the background and significance of this subject is introduced, and the research status of inverted pendulum and its stable control at home and broad are reviewed. The configuration, operating principle and mathematical model of double inverted pendulum is also presented, and the nature of its non-linear characteristics is highlighted. The controllability and observability of the linearized model of the system is simply analyzed. Secondly, according to the computer control requirements of the lab system, its linear mathematical model is discreted, and the discrete state feedback controller is designed. The simulation model of the double inverted pendulum is built up in MATLAB/Simulink, and suitable control parameters are choosen by simulation study under different closed loop poles and sampling periods.Finally, the operating principle and characteristics of signal conditioning, power driving circuit and the like are analyzed in-depth, and the flow chart and C language programming of control software are given in DOS environment in accordance with the control requirements of the system. Hardware test and software debugging of the experimental system have been done, and stable control of the double inverted pendulum is ultimately realized and the experimental results and problems encountered during the experiment are analyzed.