Inverted Pendulum From The Pendulum And Stability Control Systems And Strategy Research Automatically

In thesis we put as controlling the target with the real inverted pendulum, study control algorithms and design the real-time control system, finally have realized swinging up automatically and standing up steadily. Besides we develop the real-time control system using Simlink of MATLAB and VC, and have reached the anticipated intention. We have adopted two kinds of control strategies. The first strategy uses non-linear model of system to go on approximate linear treatment near equalization point, get system linear model, and then by PV to control swing up automatically and by LQR to carry on balance control. The second strategy don't use mathematics model of inverted pendulum , make use of fuzzy theories to control swinging up automatically and the balance controlling directly. The actual result proves, the control strategy that this text puts forward is effectual, and has made the better control result in the real products.Chapter 1 briefly introduces the backgrounds, main contents and research method of this thesis.Chapter 2 inverted-pendulum's dynamics analysis, establishs mathematics models and analyses stability.Chapter 3 presents the card of motion control and it's realization in VC and Simlink. Chapter 4 presents PV-LQR control arithmetic in details, and then bases on it to design the real-time control system.Chapter 5 presents the theories of fuzzy sets and fuzzy logic.Chapter 6 presents a fuzzy control arithmetic in details, and then bases on it to designthe real-time control system.Chapter 7 summarizes the work of this thesis, and then gives the conclusions.