Stability Control And Realization Of The Single Link Rotary Inverted Pendulum

Research on inverted pendulum system has the important theorysignificance and the project practical value because it can reveal directlymany abstract control concepts，solve some classic problems in the fieldof automatic control, test whether instabilities and nonlinear system canbe solved by a control theory or method. Research achievements oninverted pendulum system can be applied in many control areas such asrobot, military industrial technologies, spaceflight technology andcommon industrials. In view of existing situation that the quantity ofarticles about simulation control research on inverted pendulum system ismuch more than that of articles about real time control research oninverted pendulum system and that the quantity of articles about linearinverted pendulum system is much more than that of articles about rotaryinverted pendulum system, we discussed real time control research onrotary single inverted pendulum system by making use of Sliding ModeVariable Structure Control Theory and Linear-Quadratic-Gaussian (LQR),respectively.1、Structure, mathematical modeling and performance analysis ofrotary single inverted pendulum system. Firstly, the mathematical modelof rotary single inverted pendulum system has been derived on the basisof the operation principle and structure. Secondly, stability andcontrollability have been discussed and the results revealed that thesystem is open-unstable and complete controllability.2、Stability control and realize of rotary single inverted pendulumsystem based on Sliding Mode Controller of Variable Structure. Firstly,Sliding Mode Controller of Variable Structure of rotary single invertedpendulum system has been designed base on its equivalent control andanalysis of stability for its sliding mode motion. Secondly, real timecontrol research on rotary single inverted pendulum system by makinguse of Sliding Mode Variable Structure Control Theory has beendiscussed. In Matlab/simulink system, systems model of rotary single inverted pendulum system has been set up and packaged. The motion oflink of rotary single inverted pendulum system is very stable, and thependulum rod has been successfully swung up in spite of its short stabletime when both of the parameters k and ε have been optimized.3、Optimum control and realize of rotary single inverted pendulumsystem based on Linear-Quadratic-Gaussian. Firstly, LQR controller ofrotary single inverted pendulum system has been designed. Thenparameters of optimum weighted matrix Q, R and correspondingfeedback matrix K have been determined by Particle Swarm Optimization（PSO）method. Secondly, real time control research on rotary singleinverted pendulum system has been done by making use of LinearQuadratic Gaussian. The results show that the motion of the pendulumrod of rotary single inverted pendulum system is very stable based onthose optimum parameters of Q, R and K.