Ring Inverted Pendulum Control System Design And Simulation

Handstand pendulum system is a typical model of multivariable,nonlinear,strong coupling,higher order times of natural unstable system, its control goal is to achieve balance with each swinging rod of handstand pendulum system, make no excessive volatility, and when joined the condition of stochastic-disturbing systems can recovered balance quickly after the disturbance disappeared. this kind of character of Handstand pendulum system, make it become the ideal experimental platform of researching control theory. Accordingly, this circular handstand pendulum based on laboratory equipment of the inverted pendulum control system design and simulation Smulink inverted pendulum control system. The main research work are as follows:Firstly, handstand pendulum system by analyzing the characteristics, establishing a mathematical model of ring single and double handstand pendulum according to the Euler-Lagrange principle and Newton's mechanics analysis and qualitatively analysing of the handstand pendulum system controllability,Observability,Relative controllability and stability.Secondly around annular double handstand pendulum system, studing the handstand pendulum control method. Including conventional LQR control and fuzzy control and LQR-fuzzy compound control methods. Then taking the three control method adds to Matlab simulation model of the double handstand pendulum, meanwhile choosing the appropriate parameters by the Simulink tool of Matlab, achieving good control effect and finishing the control system simulation of the double handstand pendulum. And compared and analyzed the three control algorithm simulation results.Finally, finishing physical handstand pendulum LQR control experiments by the laboratory handstand pendulum system. the success of physical control Further evidence the designe of LQR controller in this paper has good stability,robustness and adaptability.This successful implementation of the simulation studies of the handstand pendulum system, and the control theory can be widely used in various control areas with important practical significance.