Inverted Pendulum Control Strategy Research And Simulation Platform Design

Inverted pendulum system is a typical natural unstable high order system with the characteristics of multivariable, nonlinear and strong coupling. In the control process, the inverted pendulum control system can effectively reflect many problems, such as non-linear problem, robustness problem, dynamic problem, stabilization and tracking problems and other issues. The study of inverted pendulum system in theory and engineering application has the profound significance, related research achievement has been applied to many fields such as aerospace science and technology and robotics.The research object is based on double level linear inverted pendulum device. First expounds the current research situation of the control strategy and control system and mechanical structure of the inverted pendulum. On this basis, it establishes a mathematical model, and analyzes the stability of the system controllability and observability. Since LQR control parameters is difficult to determine, an improved genetic algorithm is used to optimize the parameters of the controller. It can not only make full use of their advantages to improve the performance of the controller, but can save artificial trial time. In order to shorten the stable time and reduce the overshoot, applying fuzzy control strategy to control the inverted pendulum. According to the rules explosion problem of controller, it puts forward the concept of integration function. Using this function can greatly simplify the complexity of the fuzzy controller. To derive the best parameters, it requires a lot of simulation experiments and related parameters repeated testing before real-time control. This process is cumbersome and time consuming. Therefore using SIT communications technology to link up the LabVIEW and Simulink. By building control model in Simulink, and using virtual instrument technology to achieve human-computer interface design and control. Finally completed the inverted pendulum simulation experiment platform based on LabVIEW, researchers can enter the platform through the url, adjust its parameters and simulation curve observation. This platform is easy to use and save time, and can be applied to the experimental teaching laboratory equipment to alleviate shortage situation.Finally, through the programming it realizes the physical control of double inverted pendulum system, and achieves satisfactory effect. A series of simulation experiments show that the LQR control and fuzzy control based on the improved genetic algorithm can meet the requirements of the experiment, but the latter is shorter stabilization time and less overshoot.