| Inverted pendulum is a nonlinear nature unstable system. It reflects the intuitive concept of many typical systems, such as stability, controllability, convergence rate and anti-jamming capability. Inverted pendulum have higher, unstable, non-linear, and other characteristics. Study of the inverted pendulum reflects the control of many of the issues, therefore, it is very important theoretical and practical significance. In theory, many researchers used the new theory of an inverted pendulum control system to verify. They can find a new control method while they study Inverted pendulum. The inverted pendulum in the aerospace, robotics and other fields have important applications. In addition, the inverted pendulum is simple, low cost, reflecting the effects of visual, are all its advantages.LabVIEW is a powerful graphical programming software compared with the traditional programming software. LabVIEW is more efficient and better support hardware. This software is widely used in measurement and control areas and will be one of the most promising software. In this paper, use NI's products (LabVIEW 2009, Control Design Toolkit) as software development tools to realize computer simulation of the inverted pendulum control system. The main work and research fruits are as follows:1. First the characteristic of inverted pendulum and the research meaning of control are analysed. Besides, the progress of inverted pendulum research is introduced. Then, the single inverted pendulum system model is established based on Newton's mechanics theory, which is a non-linear model. Linearize the model in the vicinity of the equilibrium point and thus state equation of the system is obtained. Qualitative analysis is based on the linearized model, which shows the inverted pendulum is a unstable, controllable, observable.2. The comparative analysis of PID control and optimal control strategy are introduced in the following. Ultimately, Linear quadratic optimal control is selected to achieve stability control, then, simulation of the stability control is carried on. By using optimization control theory, the selection of matrix Q and R is dicussed. It is introduced how to realize the simulation of the inverted pendulum system by the LabVIEW. One inverted pendulum LQR controller is designed and emulated by the LabVIEW.3. Triggering controller of inverted Pendulum is designed by taking the PV control way featured by simplify and reliability. Displacement of car body can be restricted in the regular scale and the shift of two controlling ways can also be achieved steadily. One inverted pendulum PV controller is designed and emulated by the LabVIEW. 4. Design an appropriate mode switch, allowing the car to change mode from auto handstand mode to the pendulum swinging inverted stable mode. Lab VIEW applications to simulate the inverted pendulum system. Finally, use the Simulink objects in the analysis and real-time control system. |
