Study Of Control Arithmetics And Design Of Experiment System For Rotational Inverted Pendulum

As a classical problem in the control theory, study on the inverted pendulum system has important meaning both in theory and engineering.In this paper, I choose the rotational inverted pendulum as my study object, on the basis of deeply studying its structural principle and using for reference relevant studying production both at home and abroad, I establish its mathematic model using the Lagrange theory, linearize this model near the balance point, educe the general formula in the form of state-place expression, analyse and validate the natural nonbalance, controllability and observability of the system. I discuss several typical classical control arithmetic: LQR, extension and PID arithmetic.By striking up and improving the system's Simulink model, I put up some simulation experiments, and finally validate the feasibility and effectiveness of these arithmetics.On the basis of above study, I design the experimentment system based on the SCM(Single Chip Microcomputer). The designed mechanical part of the system includes the following objects: rotational arm, swing bar and direct-current motor. The control system consists of the design of hardware circuit and software program. As for hardware part, the angle-displacement sensor WDX35D and AD Convertor ADS7822 are used to form the Sampling and ADC Module Circuit. The main control chip is the 89E516RD2 chip made by the SST company,whose function is to calculate the control rule based on received sensor signal and result in PWM as the output according to its PCA Module.The PWM signal is to control the Motor and its driving module.The performing organ in the system is direct-current decelerate motor 40JB20, whose driving chip is LMD18200. As for the software part, I adopt the basal PID arithmetic, and its emphasis is the realization of PID arithmetic. In this article, I present the flow chart of program and the whole control program using the C language.