Planar Inverted Pendulum System, Intelligent Control And Virtual Prototyping

With the development of science and technology, the control plants become increasingly complex, and the control performance are continuously improving. Based on math tool such as linear algebra and optimal method, modern control theory is able to resolve more complex systems than classical control, but it still can not meet the needs of modern technology, so it is required the introduction of a new control strategy. With the progressive development of the field of artificial intelligence, intelligent control which to solve complex control object problems increasingly shows its advantages, and it shows a strong vitality in practical applications.With the rising of intelligent control, various intelligent control algorithms are also emerging and developing. Research on intelligent control algorithms is currently the focus of the study area of intelligent control.Inverted pendulum system is a typical nonlinear system with high-order, multivariable, strong coupling and absolute instability. Its control process can effectively reflect many significant control problems, such as:stabilization problem, nonlinear problem and robust problem. So usually inverted pendulum system is used to testify the effectiveness of control theory. Research on it has not only meaningful theory worth, but also important engineering background and real significance. In this paper, plannar single, double, and triple inverted pendulum based on XY numerical control platform are considered as research objects, and research on their mathematical model, method of intelligent control and control of their virtual prototype are carried out. To sum up, the main content of this thesis are as follows:1. Research on the model of the system:The mathematical models of the planar single, double, and triple inverted pendulums are established by using the Lagrange equations. Taloy series expansion of the mathematical models in the equilibrium position and linearation result in the decoupled linear models in two orthogonal directions of their systems. Stability and controllability of each system were analyzed according to their model.2. Research on control method:Taking planar sigle, double inverted pendulum physical system as platform, Linear-Quadratic optimal controllers and Adaptive Neuro-Fuzzy controllers were designed, and successfully realized the controls of treir physical models. Based on genetic theory, concept of genetic optimization control was proposed firstly. Then, three kinds of realization methods of genetic optimal Control were introduced, and successfully applied to the control of planar sigle, double inverted pendulum.3. Research on virtual prototype:Planar triple inverted pendulum is regarded as research object, and its virtual prototype model was designed by using ADAMS software. At last, joint use of ADAMS and MATLAB simulation platform successfully realized the virtual prototype control simulation of plannar triple inverted pendulum.