Design And Research On The Rotary Inverted Pendulum Control System

With the wide application of control theory in the field of practice, the research of inverted pendulum has attracted great attention. During the inspection validation of new control theory and method, the inverted pendulum control system is a kind of effective experimental equipment. Inverted pendulum system stability control has been a research hot spot, especially for small range of stability control. Therefore, the stability of the system control in the control field is a very challenging problem.This paper first analyzes the related control algorithm for inverted pendulum system and developing condition, design of inverted pendulum system, mainly including the mechanical structure and electric control system. In order to further reveal the rotary inverted pendulum system is not stable in the small Angle control law, the mathematical model of the inverted pendulum is derived in detail, and then according to the existing control strategies and methods, in order to explain its on a small scale can’t meet the problem of stability control based on t-s algorithm to control the stability of a small scale.In order to achieve the stability control of rotational inverted pendulum system, a kind of t-s model is put forward on the basis of the optimal control method of fuzzy control. This control method is a kind of control strategy, the optimal control of its method compensates for the existing inverted pendulum are related to the intelligent control theory and optimal control method of disadvantages. T-s control algorithm is verified the effectiveness of the stability of the inverted pendulum control, the simulation result is obtained by matlab simulation software to do the contrast judgement. Simulation results show that the control law is effective and feasible.In this paper the theoretical foundation of the stability of the inverted pendulum control to do the research, its related mathematical model is deduced, and the control method and theory are compared, the practical simulation results are analyzed and discussed, based on t-s model is verified the optimal control of fuzzy control method is of great theoretical significance and practical application significance.