The Ring Of The Double Inverted Pendulum Stable Control Research

The Inverted pendulum system is characterized as a typical multi-variable, strong-coupling, high order, unstable nonlinear system, and its experimental platform is used to test all kinds of control algorithm. At present, there are many ways to control the inverted pendulum steadily, such as robust control, energy control, optimal control, genetic algorithms, neural control, fuzzy control, and so on, certainly, it can be controlled steadily by two or more fused control methods.The main purpose of this paper is verified the control method.this paper used three kinds of intelligent control method,inverted the pendulum simulation control analysis system by two annular stage,and comparated the results of the three kinds simulation control method, and the better is chosen as physical control method, the research contents of the paper are as follows:First of all, the research presence of inverted pendulum and the component and structure of ring double inverted pendulum were introduced, the method of Newton dynamics and the principle of Lagrange were adopted to analyze the system, the mathematical model of the system was built, the controllability and the observability of the system were analyzed.Secondly, the theory of fuzzy control and Sliding Mode Control were introduced, the method of optimal control was used to solve the problem of Fuzzy Rules Explosion, so the simulation was realized by using the method of fuzzy control. The poles method was adopted to solve the feedback matrix, and the design of sliding model control system was achieved by using the feedback matrix, and then, the simulation of sliding control was realized.Combined with the advantages of fuzzy control and sliding mode control method, designed the fuzzy sliding mode control system. This system finally realizes the simulation of fuzzy sliding mode controller.At last, the method of fuzzy control was chosen as that of physical control by relatively analyzing the simulated results caused by that the system adopted respectively the method of fuzzy control and sliding model control, the model of physical control was built by using MATLAB, and the program of physical control was compiled on the VC++6.0platform, so the physical control of ring double inverted pendulum was achieved, finally, the controlled results were analyzed.