Comparative Study On Control Strategy Of Linear Inverted Pendulum

Inverted pendulum system has the advantages of in appearance and simple structure, also its adjustment of internal parameters and components are relatively easy,so the inverted pendulum system is the ideal platform in teaching, experiment and research on the automatic control field. Inverted pendulum control system’s robustness and control the nonlinear, follow-up and tracking problems of research can be covered by the nonlinear, multivariable, high-order, strong coupling and the intrinsic properties of absolutely unstable expression. Therefore, study of theory and methods of inverted pendulum system is significant in future.In this paper, the research object is the GLIP2003 triple inverted pendulum device from solid technology (shenzhen) co., LTD. Firstly, this paper tells a dynamic model of linear double, triple inverted pendulum, the stability of the linear double, triple inverted pendulum control algorithm, instruction of the experiment system of hardware and software. Also MATLAB and Simulink simulation situation are included in research content, The following several aspects are:(1) The overview of the inverted pendulum system. The basic theory of inverted pendulum system, which includes the classification, the characteristic of the inverted pendulum and modeling method. The theory also emphatically introduces the inverted pendulum system for stability in the pendulum control research status at home and abroad in the field of typical control strategies, and briefly analyzes the advantages and disadvantages of several kinds of typical control strategy and development prospects.(2) This paper also introduces establish linear dynamic model of double, triple inverted pendulum through the analysis of the mechanics of Lagrange method, and based on the linear double, triple inverted pendulum, the mathematical model of inverted pendulum can analyze their stability, controllability, and features.(3) After the qualitative analysis of straight line double inverted pendulum, the paper designs stable controller for linear double inverted pendulum, and uses many kinds of control strategies including fuzzy control and sliding mode variable structure control, fuzzy and sliding mode variable structure control. And respectively in these three controllers for linear double inverted pendulum of MATLAB/Simulink simulation experiment was carried out, by comparing the study found that the control effect.(4) Based on the qualitative analysis of linear triple inverted pendulum, it designs linear triple inverted pendulum stable controller, and uses the many kinds of control strategies which includes LQR control, genetic algorithm, fuzzy control, and using these three controllers for linear triple inverted pendulum of MATLAB/Simulink simulation experiment was carried out, through comparing the study found that the control effect.(5) The detailed introduction of solid type high-tech GLIP2003 linear object of triple inverted pendulum control system hardware and software is written, especially the real-time of MATLAB/Simulink toolbox RTW (Real-Time Workshop) of the use of the control software. Then the paper elaborates the line real time control of double inverted pendulum.Finally it summarizes the paper and the prospected content of the work on the next step.