Research Of The Control Method Of Flexible Inverted Pendulum Steady

The control method of Inverted pendulum system is widely used in the satellite flight,robot walking and general industrial process, etc. Inverted pendulum system is a nonlinear,strong coupling and multivariable unstable device. In the aspect of control, it involves many problems such as tracking theoretically, non-linearity, robustness, stabilization, etc.Therefore, as a typical model, it becomes more and more popular in testing new control theory and methods.In this paper, the flexible pendulum stability control was studied, and the specific research work can be summarized as the following three aspects:Firstly, Newton mechanics and Lagrange equation were used to establish the mathematical model of flexible level inverted pendulum. And then the performance of the system was analyzed.Secondly, as to the flexible inverted pendulum stability control, we introduced LQR control and the designing of a LQR controller. Then the methods and controller design were introduced, which include the conventional variable structure control, reaching law sliding mode control, and variable exponent reaching law.Thirdly, the flexible inverted pendulum system and the double-flexible inverted pendulum system controller were designed respectively based on the control method. The simulation results show the feasibility of the control method. But the adjusting-time of LQR control method is too long. The rocker based on the traditional variable structure control exits jitter. The inputs of controller based on exponential reaching law control exits jitter, which increases the burden of the controller. While the improved method not only realizes the stable control of inverted pendulum but also ensures the states of system reach the sliding surface in a limited time.