The Control Method Research And Design Of Inverted Pendulum System

The paper takes the computer object (i.e. inverted pendulum) as the controlled member, and studies the control method of its movement.Using the fuzzy control theory researched the control system of inverted pendulum and simulated,moreover, makes the comparison with the PID controller.And it proves that this controller has wery good stability and adaptability.The main research work is declared below:1. The mathematical model of single inverted pendulum is formulated on using Newtonian mechanics analysis method.And the qualitative analysis done for the inverted pendulum.It is proved that open-loop control inverted pendulum system is instability,but it is controllable and observable on the equilibrium point.So we can make the system to be stability by designing a controller.2. Research on fuzzy control algorithm of inverted pendulum system by establishing fuzzy rule. In this paper, we compose an angle controller which takes swing link's angle and the angular speed as the input value. Then we realize the overall control objective which is the principle of standing up pendulum and stabilizing cart.3. The simulation of fuzzy of inverted pendulum system. We realize the the simulation of inverted pendulum system by the SIMULINK Toolbox.Simulation experiment of the fuzzy control of inverted pendulum is very well implemented by using fuzzy control theory, that the result shows that it not only has quite good stability, but also is able to make the cart of the inverted pendulum moving to the place where it is appointed by us in advance, along the orbit.This paper's innovation is that I compose a complete fuzzy controller by establishing the position fuzzy controller of inverted pendulum and the angle fuzzy controller of it, and makes use of the system.