Research On Stability Control For Rotary Inverted Pendulum

Stability control of inverted pendulum is a classic control problem. As a typical, multi-variable, non-linear, absolutely instable system, inverted pendulum has been the hot issues of control theory and applications. Inverted pendulum is a typical experimental setup to verify modern control theory methods, and the control methods and ideas are widely used in general industrial process. So the inverted pendulum system has an important theoretical significance and practical significance. Inverted pendulum system can show many abstract concepts such as stability control, controllability, system speed and convergence, anti-interference ability. Many researchers who study modern control theory have always regarded inverted pendulum as studying object, because it has characteristics such as multivariable, nonlinear and strong coupling. They have explored new control methods from inverted pendulum research and used in space technology and study on a variety of high-tech science and technology.In this paper, two methods, linear quadratic optimal control and fuzzy control for the stability of inverted pendulum, were used. Simulation and experimental results proved the effectiveness of control methods used. Main work of the thesis is as follows:The development and current situation of inverted pendulum system research was introduced. Dynamic equations of inverted pendulum were obtained with Newton mechanics and were linearized at the equilibrium point. Then the linear equations were obtained. Analysis on the inverted pendulum control system proved hat an inverted pendulum system is a naturally unstable system but able to be controlled at the equilibrium point.Linear quadratic optimal control were used on the research of stability control for the rotational inverted pendulum. By selecting the appropriate optimal weighed matrix, the optimal state feedback matrix was obtained. Then the simulation of stablility control was carried out.Method of optimal control was used to design the optimal state-variable synthesis function. The variable dimensions of the fuzzy controller were reduced. The method successfully solved the problem of "fuzzy rule explosion". The impact of quantitative factor on control effect is analysed. Nonlinear quantization factor was used to improve the performance quality of the fuzzy controller.On the VC control platform, we used two methods of linear quadratic optimal control and fuzzy control to develop the stability control algorithm program of rotating inverted pendulum. The stability control of the rotational inverted pendulum was implemented successfully. Simulation results show that the stability control of the inverted pendulum system was implemented by the designed fuzzy controller.Finally, the control algorithm was used in the real control for the invertedpendulum system and a satisfied result was obtained.