| The inverted pendulum system has the characteristics of nonlinear,high order,multi-variable and strong coupling,and is a typical representative of the undisturbed under-actuated system.It can abstractly represent the basic model of control object in various application fields.It can be used as an ideal multi-intelligent control theory to verify the control application platform,so as to realize the extensive application of the inverted pendulum system in the field of aerospace and intelligent machine.So,stability control research is very important.The linear two-stage inverted pendulum control system is taken as the research object.Firstly,the physical mechanism of the two-stage inverted pendulum is analyzed and the mathematical model is established.Then,the linear model of the linear inverted pendulum is analyzed linearly.The formula of the linear state space expression of the system is obtained.Secondly,the control experiment of PID controller and LQR controller is used to realize the control experiment of linear two-stage inverted pendulum.The results show that there are many controllers and control effects,and the accuracy of LQR controller realizes the two-step inverted pendulum control is better than PID control.But LQR controller parameter selection process has partial experience,resulting in low control accuracy.Finally,for the LQR controller parameter selection problem,the particle swarm optimization algorithm is used to optimize the LQR controller parameters.The LQR control is used to optimize the parameters of the car displacement,the speed of the car,the angle of the pendulum 1 and the angular velocity,the angle of the pendulum 2 and the angular velocity.The LQR controller optimized by the particle swarm optimization algorithm improves the stability and accuracy of the two-stage inverted pendulum control,and solves the state of self-recovery after the pendulumdeviation,and maintains the balance state.The experimental results show that,the particle swarm optimization algorithm can optimize the LQR linear two-stage inverted pendulum control system,which is of great theoretical significance to improve the stability of the two-stage inverted pendulum control system and lay a practical application for the inverted pendulum system.Theoretical basis has a certain application value. |
