Double Inverted Pendulum Based On Pid Controller Design

Double inverted pendulum is an instability system which has many variable, strong coupling and nonlinear. The double inverted pendulum can effectively reflect many questions, such as robustness, stabilizability and tracking performance etc. There are many instability and nonlinear systems in this area, at the same time, inverted pendulum can tested such systems, which is used in a control area and scholars frequently. The control methods of inverted pendulum were also widely used in military, robotics and other areas.In chapter2, we describe the research development status of inverted pendulum control system, and expatiate the control results in the different developing periods. Because the object is to design the fuzzy PID controller, we first do the preparatory work of the relevant theory, which include the introduction of the PID and fuzzy theory. In chapter3, we establish the mathematical model of inverted pendulum control system (state equation) and by using modern control theory analysis the controllability, observability and stability of two level inverted pendulum system. In chapter4, the fuzzy PID controller design process is given, the fuzzy controller parameters are described and the fuzzy control rules and the reasoning process are developed. In chapter5, the fuzzy PID controller is applied to the double inverted pendulum model by using MATLAB as the simulation tool, and then the fuzzy PID controller is applied to the actual double inverted pendulum system.The simulation and physical experiment results show that the fuzzy PID controller has higher stabilizability. Compared to PID controller, the fuzzy PID controller can avoid the drawbacks of manual adjustment parameter and not timely changing the parameter to meet the system requirements. The fuzzy PID controller designed in this thesis is superior to a single fuzzy control and PID control, and it is a very effective control method and the fast control and no error control are gotten.