LabVIEW Is Based On Planar Inverted Pendulum Control System

Inverted pendulum is an unstable system, the need for input to maintain stability from the outside world, it has the characteristics of fast response, high order time, multivariable, nonlinear and open-loop unstable. The study of inverted pendulum control system can reflect a lot of problems in control theory, such as stabilization, stability, controllability and observability, at the same time, many new control theory can be validated using inverted pendulum system. In practice, the control methods of inverted pendulum system has a wide range of uses,, such as satellite attitude control, stability of crane hook device, the control of walking robot, etc.This article through to the research of the planar inverted pendulum system, a mathematic model of the planar inverted pendulum system is established and the design of the controller is completed; And using the virtual instrument software LabVIEW as the planar inverted pendulum control system development tools, combined with Googoltech’s GPIP-2002plane inverted pendulum system hardware platform, and realize the control of plane inverted pendulum. In this paper, the main research contents include:1. Access to relevant information through the network, libraries, databases,etc,understood the research status and significance of inverted pendulum system, determine the plane inverted pendulum system as the main research object. And through the analysis and validation, using LabVIEW as the software platform of the control system is feasible.2. Analyze the model of plane inverted pendulum system, the level1and level2general mathematical model of plane inverted pendulum system were established by applying the Lagrange equation, and at the equilibrium point for linearization processing, get the X and Y direction decoupling and linearization of the equation of state.3. Analysis of the stability, observability and controllability of the structure and performance of planar inverted pendulum system, design the linear quadratic optimal controller of the level1and level2plane inverted pendulum systems, and though a large number of simulation experiments to determine the weighting matrix Q and R.4. The movement control cards of non NI company was used in the LabVIEW is introduced, and design the drive function library of Googoltech’s GT400-SV-PCI motion control card in the LabVIEW environment, and use the function library to realize the control of the XY NC platform, the correctness of the proposed drive function library was verified.5. The3d model of plane inverted pendulum system was established through SolidWorks, and then through the3d graphics toolkit imported it into LabVIEW, use the control design and simulation toolkit design simulation of inverted pendulum system, connect the simulation output and the3d model of inverted pendulum system, realized the3d simulation of planar inverted pendulum system.6. By calling the GT400-SV-PCI motion control card driver library in the LabVIEW environment,designed X direction, Y direction and XY direction control system of the plane level1inverted pendulum system, and realized the inverted pendulum control on the Googoltech’s plane inverted pendulum system, the plane inverted pendulum system is verified the correctness of the model and the LQR controller.