The Application Of The Double Inverted Pendulum Fuzzy Control In Straight Line

The inverted pendulum system is a highly complex nonlinear system which has high requirements in its accuracy and speed. The instability is the most obvious feature. As early as the1950s, academics began the research on various control programmes of the inverted pendulum system."The inverted pendulum analysis, design and implement" is a collection of MATLAB functions and scripts, and SIMULINK models, useful for analyzing Inverted Pendulum System and designing Control System for it. When its concept was put forth, it became one of the research projects interested by many scholars.This subject is proposed under the premise of a number of major research significance and background of the inverted pendulum. Based on large amounts of data, this thesis introduces and summarizes the research history and international status of the inverted pendulum. First of all, this thesis shows the schematic diagram of different types of inverted pendulum, and introduces each control methods simply, studies and discusses the fuzzy control scheme combined with the current research status, and illustrates the necessary fuzzy knowledge. This thesis ignores the secondary factors and does some assumptions. After the establishment of a physical model, we analyze the system kinetic energy and potential energy combined of physical knowledge, and use the parametric equations as the Lagrange operator. Then we built the mathematical model of the double inverted pendulum system. After obtaining the state equations, various of performances of this model is mainly analyzed, including controllability, observability and stability.Because the double inverted pendulum has a multivariate characteristic and the fuzzy controller has many fuzzy rules, this subject reduces the order of multi-dimensional input variable by the application of integration functions and technology. According to fuzzy control of the whole process, the control program is designed combined with the fusion algorithm. After the derivation and computation of the rules, the membership function graphics of the reduced-order variables are drafted, and the control variables are obtained by the method of selecting the gravity center. Lastly, the system SIMULINK block diagram is obtained in the MATLAB software. After compiling, this thesis does physical control operation and simulation using Googol company double inverted pendulum and obtains the simulation waveform figures of fuzzy control strategy. For better implementation and validation of the balance control of the fuzzy controller, an interference is given in the real operation. From the waveform figures and response results, a better response speed and stability is obtained.