The Balance Control Of Single Liner Inverted Pendulum

The first-order inverted pendulum as a kind of experimental equipment, in the process of teaching and scientific research play an important role. Inverted pendulum system with its own nonlinear, strong coupling, multivariable and natural unstable features, become the ideal model of testing various control theories and methods, control field of research at home and abroad for a long time is a typical problem. But in the current domestic inverted pendulum control study, most of the studies are still limited to computer software simulation stage. This topic combined with homemade first-order inverted pendulum experiment platform,"fuzzy control algorithm in the application of the system, and study.According to the physical model of first-order inverted pendulum system, the application of Newton’s mechanics and Lagrange’s equation, respectively, and the law of conservation of energy to build the dynamics mathematical model of the system. For the design of the control system, to the linearized model and simplified; Through the model simulation experiment proved that the simplified is reasonable. In view of the double closed loop control system were designed and dynamic fuzzy controller, fuzzy controller and build all kinds of controller simulation model in simulink environment, the effectiveness of the proposed controller is verified by experiment, it is concluded that the double closed-loop fuzzy controller with fuzzy controller can realize dynamic balance control system.Design the hardware part of electric control system, realized the S7-200PLC as the core of first-order inverted pendulum control system; At the same time, the system performance is analyzed, and the rationality of the analysis is verified by actual test.In this paper, the double closed-loop fuzzy control can be realized in the PLC method, is based on the system state driving force control system to realize the system stability control,.debugging is simple, rapid system response, experiments show that it has good dynamic performance and robustness.