The Study And Control Of Spring-Connected Double Inverted Pendulum

Inverted pendulum system as the outstanding teaching, algorithm research platform, many abstract and difficult control concepts can be clear, intuitive expressed in the inverted pendulum.It has great help and inspiration for us to understand the control principle and algorithm. At the same time, in terms of some complex system control, a lot inspiration and methods can be found through the inverted pendulum. So, the inverted pendulum system has been the typical research subject of control engineering and control theory. The research object of this paper is spring-connected inverted pendulum that joined the freedom spring on the basis of the traditional inverted pendulum. Specific content is as follows:1By using the method of mechanism modeling, motion differential equations of the n stage spring-connected inverted pendulum system has been obtained according to the force analysi" on components of spring-connected inverted pendulum,which complete, clear and intuitive show the spring-connected pendulm system in front of the readers. It has a lot of secondary meaning for the research of spring-connected inverted pendulum in the future. In order to facilitate further research n-stage spring-connected inverted,taking linearization processing near the equilibrium point, and taking a series of qualitative classification for spring-connected double inverted pendulum, such as controllability, objectivity, and the influence of the flexible components for system, etc.2The simulink model and physical simulation animation of spring-connected double inverted pendulum has been established by using matlab. On the basis of the model designed a LQR controller and a fuzzy controller for the spring-connected double inverted pendulum, all has obtained a good simulation effect. In order to further improve the control quality, designed a variable universe Fuzzy contoler, and compared the results with the first two controllers, further improve the control effect.3We established the physical control platform of spring-connected inverted pendulum and developed control program based on VC and matlab. Finally obtained the mathematical model and implementation scheme of self-balancing robot which is a practical application of inverted pendulum.