Based On Studies Of The Inverted Pendulum System Of The Biped Robot

The biped robotics is a cross discipline which involves the bionics, multi-rigid body complex dynamics, multi-sensor data fusion and control engineering. And it is one of the most important branches in the robot research field. The biped robot is suitable for doing cooperation with human in people's everyday lives, and has a wider potential substitute for human work such as healing service, housework and working in hazard conditions. Therefore, the research on the biped robot not only has the higher academic value, but also has comparatively practical significance.In this paper we develop a simple model of biped robot, which is based on the human's walking course and the human's physical structure. Then we have the research on the gait planning of biped robot, and we achieve the comparability between the biped walking and the double inverted pendulum. In the following chapter, we have the simulation of the biped walking without lifting the feet on the flat ground and consuming energy, which uses the balancing and locomotion of the double inverted pendulum.LQR-fuzzy control theory is introduced to study simulation and the controlling problem in real-time of double inverted pendulum in this paper. Success of simulation and success of control of hardware pendulum system proves that this controller designed in the paper has very good stability and robustness. Main research work is declared below:The mathematical model of double inverted pendulum is proposed. It is proved that open control inverted pendulum system is instability, but it is controllable around the balance point.Research on LQR-fuzzy control algorithm of inverted pendulum system. The dimension of input varieties of fuzzy controller is depressed by designing an optimal state variables synthesis function using optimization control theory, and it can reduce the rules of fuzzy sharply, and the "rule explosion" problem is solved. The infection of quantification factors to effect of control is studied. The quality of LQR-fuzzy controller is improved by adding auto switching quantification factors around the balance point.The simulation of LQR-fuzzy control of double inverted pendulum system is discussed. It is introduced how to realize the simulation of the inverted pendulum system by the Matlab. It makes simulation model more agility, and simulation work become more convenient. Simulation experiment of the LQR-fuzzy control of inverted pendulum is very well implemented by using LQR-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 pendulum moving to the place where it is appointed by us in advance, along the orbit. Finally realized the inverted pendulum system's practicality control by the control algorithm through programming, and obtained the satisfying control effect.