Design Of The Controller On TDF MD PID In Liner Inverted Pendulum System

As the inverted pendulum has instability, higher order, nonlinear and strong coupling characteristics, many experts and scholars consider inverted pendulum as a typical object of study. The optimal control of inverted pendulum has been as a hot spot in the field.Among them, because of its simple structure, easy to adjust parameters, etc., PID control has been widely used in industrial control.However, due to the inverted pendulum system is very unstable, PID control system can not achieve good control effect, anti-interference ability, it is difficult to meet the desired control objectives. In view of this, this paper adopts two degree of freedom model driven PID (TDF MD PID) control to realize the stable control of the linear inverted pendulum.TDF MD PID control system is mainly composed of PD feedback compensator, main controller and set point filter.PD feedback compensator is used to stabilize a plant P(s),and make the transfer function of the process including the PD feedback itself F(s) to first order delay system with dead time. The set point filter is used to cancel one zero and one pole in the system and thus to decreases the order of the system from second order to first one. Through selected the parameters of main controller reasonably,it can shorten the response time of the control system and improve the system of anti-interference ability.At first, this paper respectively adopt the Newton method and Lagrange method to establish the mathematical model of the single and double liner inverted pendulum.According to the mathematical model of the inverted pendulum and PD feedback compensator,the actual process is compensated as a first-order process with a time delay.lt can calculate the parameters of the main controller and setpoint filter according to the parameters of PD feedback compensator.When the design of TDF MD PID controller is completed, Depending on the MATLAB/simulink software,It can realize the simulation and real-time control of inverted pendulum.Simulation results show that TDF MD PID control strategy is feasible.Compared TDF MD PID control with conventional PID control method, the simulation results show that the response time of procedure was significantly shorter,and the control system has no overshoot.DF MD PID control strategy is feasible.