The Research And Development Of Networked Laboratory Based On Invertedpendulum Control System

As a classic motion control system, Inverted pendulum system is a strong instable, nonlinear, multivariable and strong coupling plant. There are many similarities with the practical engineering system control, and also high challenge is brought for the control algorithm. Therefore, the inverted pendulum control system is becoming a classic experimental routine for verifying the control theory and analoging engineering objects. Experimental teaching based on Inverted pendulum has long been popularized, but a striking contradiction was gradually formed between a small amount of laboratory equipments and a increasing number of students, so establishing a networked control system based on inverted pendulum is not only significant for theoretical research, but also meaningful for engineering application. In this paper, we build a networked control system based on the research of inverted pendulum control system. First analyze the inverted pendulum’s structureand operating principle, then establish the mathematical model of the system based on the Newton-Euler method and do qualitative analysis of the system. After that, we do the researh of theory for inverted pendulum system using LQR control algorithm,and design a good controller, also determine the parameters of the controller. And then, we build a control block diagram for the inverted pendulum system using the existing control module of Matlab\Simulink and the S-function function written by ourselves. On this basis, we gradually complete the online modeling and simulation of inverted pendulum, and also overcome the problem of inverted pendulum’s remotely location and switch control. Finally, a stable, strong anti-jamming networked control system is established. The subject combines theory and practice, it deepens the understanding of inverted pendulum control system from theoretical research to real-time control.Network control platform has been completed greatly improved the efficiency of the experimental teaching. It strengthens the practical operability of the network laboratories, and also provides a feasible plan for network monitoring of such objects.