Research Of Terminal Sliding Model Control For The Rotational Inverted Pendulum Based On Video Capture

As a typical controlled object, inverted pendulum system is a non-linear, higher order,fast, unstable and multivariable controlled system. It is usually used to test validity ofemerging control theory and feasibility of social production in the development of controltheory. Actually, we use a appropriate control method in inverted pendulum system to inspecta method wether can make the system stable and treatment effect of instability, rapidity andnonlinearity on controlled object. The study on inverted pendulum system not only can solvesystem performance problems like stabilization, robustness and tracking performance but alsoinvolve some basic subjects like mechanic, electronic and mathematics. Therefore, the controlof inverted pendulum is becoming more of a concern in the world as a challenging anduniversal subject. In addition, very few people have deep study on the process of how thepotentiometer obtains angle information of the swing links. So, through summarizing thestudy already done and using video camera to capture angle the information of swing links ininverted pendulum, this paper has a research as follows:The theory and experiment of the rotational inverted pendulum are deeply discussed inthis paper. The mathematical model of this system is established based on the workingprinciple of the rotational inverted pendulum and Lagrange equation theory, and this modelhas linearization at the balance point. And then the state-space representation of invertedpendulum system and analysis of stability, controllability, and observability based on moderncontrol theory are given. The research based on terminal sliding model control of the systemis discussed in this paper. The stabilizing control of inverted pendulum is realized bydesigning reasonable switching surface function and terminal sliding model controller. Andthe simulation result of pendulum system based on terminal sliding model control illustratesthe effectiveness of the control strategy. Besides, this paper use appropriate measure toweaken chattering problem and the simulation result illustrates the chattering problem hasbeen obviously weakened. And this paper has used digital video camera instead ofpotentiometer to obtain angle information of the swing links. This paper analyzes the timesequence, pin-setting, control protocol about OV7620and how using OV7620to acquireimages and how transporting images data to MCU called XE164FN deeply, and it researchesbasic principle about how getting angle information of the swing links.In the end, a digital control system based on XE164FN, including interface circuit, bridge circuit, power drive circuit, over current protection circuit and software part is designed torealize stabilizing control of inverted pendulum system in this paper, and the experimentalresearch about the system shows the methods this paper puts forward are effective.