Research And Implementation Of Inverted Pendulum Based On ADRC

Inverted pendulum is an ideal control object in control theory, many abstract controlconcept, such as stability, controllability, rapidity and robustness, can be intuitive shown byinvertedn pendulum. In the continuous development of industrial process control, the invertedpendulum system is similar with many nonlinear industrial processes. Therefore, the study ofinverted pendulum is else significance to engineering practice. Active disturbance rejectioncontrol (ADRC) is a new reliable and effective control method for the control of complex,nonlinear, large time-delay systems. It will have great development and application of space,and the research of ADRC tends to focus in recent years at home and abroad. However, thestudy of super instability and underactuated system based on ADRC is still in its infancy.Therefore, this paper focuses on the research and application control of inverted pendulum, inorder to break through the effective control of super stability control and underactuatedsystem based on ADRC.Based on ADRC, this paper analyzes the composition of various parts of ADRC, its roleand performance. The performance of each part in the structure is analyzed in detail, and theExtended State Observer (ESO), especially the Linear Extended State Observer (LESO), andthe structure and stability analysis are introduced and analyzed in emphasis. Based oninverted pendulum system, the control characteristics and the control performance areanalyzed in detail. Finally, on the basis the above research and study, single-stage invertedpendulum system and double inverted pendulum system is studied and analyzed based onADRC. For single inverted pendulum system, this paper respectively studies the PID control,the LQR control, the double fuzzy controller control, traditional ADRC (AADRC) control,and Linear ADRC (LADRC) control, at last proposes the control strategy with DLADRC tocontrol the single-stage inverted pendulum. Respectively simulates and real-time controls theabove controllers, simulation and real-time control results both show that the proposedmethod can not only achieve the control target of the pendulum angle and the cardisplacement but simplifies the tuning process and have better robustness and speedlness thantraditional control method. For double inverted pendulum system, after model characteristicsanalysis, this paper analyzes the performance parameters of classic PID and LQR control. Inthe end, the ADRC control strategy combination of pole assignment (JADRC) is realized tocontrol the double inverted pendulum.Control results have shown that JADRC has bettercontrol effect on the stability compared with the classical PID and LQR control and havestronger engineering application value in the future.