Based On Linear Double Inverted Pendulum A Variety Of Application Research Of Control Algorithm

Inverted pendulum has a non-linear, multi-variable, higher order and unstable characteristics, it is a teaching and research the typical research object. The inverted pendulum is a basic model of the walking of biped robot control, drilling platform stability control, helicopter landing gear control and rocket attitude control problem. As the number of swing rod increase, control difficulty also increases, the stability is decreased. How to select the best control strategy makes the inverted pendulum can move smoothly, can resist external interference in a certain range, has been a hot and difficult problem in the research are experts at home and abroad.This paper firstly discusses the development of inverted pendulum and the significance of topic selection, summarized the main work and the structure of the design, describes the research significance and value of inverted pendulum.Secondly, introduces the hardware composition and working principle for the inverted pendulum. Using Lagrange method to establish mathematical model of the system, the nonlinear mathematical model is linearized, according to the principle of knowledge to assess the stability of automatic control systems, controllability and observability.Thirdly, the state feedback control based on pole assignment, multi-model adaptive control and fuzzy optimal control based on information fusion is applied to the double inverted pendulum study, comparison of different control strategy. Pole placement using state feedback effect of the original pole configuration to a predetermined position; Multiple model adaptive control strategy considering the influence of two pendulum angle of the system, the nonlinear model based on the stable swing range divided into9linear models, after dividing system more close to the physical movement of the situation; In the optimal control algorithm based on fuzzy information fusion, using information fusion technology in the6state variables into two comprehensive variables, as the input variables of the fuzzy controller. By reducing the number of input variables, and reduce the number of fuzzy rules, to avoid the emergence of "rule explosion" problem, to realize the control function of system;Finally, in Simulink build the system simulation diagram of three kinds of control strategy, and a large number system debugging, and then get a stable system simulation curve. Comparison of the advantages and disadvantages of the various methods of control algorithms. The simulation results show that the curve, Multiple model adaptive control and fuzzy optimal control based on information fusion for inverted pendulum simulation has achieved good control effect.Using C language programming for the inverted pendulum system, and run. Double inverted pendulum pole placement based on state feedback control has swing. An inverted pendulum swing based on fuzzy control has been, smooth pendulum motion, for a certain ability to resist interference...