Research On Controlling The Two-stage Inverted Pendulum Based On Arm

The control of the inverted pendulum is a traditional question in the control field. The inverted pendulum is a multivariable, highly nonlinear and absolutely unstable dynamic system. In the modern mechanical control system, there is the same problem as the control stabilization of inverted pendulum, so the research of the inverted pendulum is very important. Optimizing the control arithmetic of inverted pendulum is important, simultaneously updating the control hardware of inverted pendulum system is important.The paper depicted the course of designing the input and output interface circuit of the inverted pendulum controller on the hardware table of the S3C44B0X embedded development board and the connection with the two-stage inverted pendulum. First, design the expanded I/O ports used of the chip of PCA9555 and PCA9554 on the bus ofⅡC and finish the compiling drivers; Second, design the circuit and driver that realizes the output signal of PWM controls the stepper motor; Finally, finish the design of the inverted pendulum system bottom table. Establish the mathematic model by the analysis of the mechanics character of two-stage inverted pendulum. Figure out the feedback matrix K of LQR by MATLAB, analyze the result of the inverted pendulum's emulate control. Finally, analyze the hardware framework of the inverted system, and compile the control program of the inverted pendulum.ARM provides a efficient and steady plat for the inverted control, because of its realtime and stability. The LQR arithmetic optimized by PSO takes the great effect in the control process.