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Study On Electro-hydraulic Proportional Control System Of Inverted Pendulum

Posted on:2016-06-13Degree:MasterType:Thesis
Country:ChinaCandidate:J LiuFull Text:PDF
GTID:2348330482978638Subject:Mechanical and electrical engineering
Abstract/Summary:PDF Full Text Request
Inverted pendulum which is similar to humans walking is a typical single-input, multiple-output, strong coupling unstable system. It means a great deal to the research on the intelligent control of robot. It needs to ensure that the rocket goes vertically upward when launch a rocket. The inverted pendulum system can also simulate the adjustment and control of the position and attitude. In recent years, robsteps that based on the intelligent control of the inverted pendulum are constantly updated and listed. At the same time, it is also the ideal object of experimental teaching which can verify the control theory well. The electro-hydraulic proportional inverted pendulum substitutes the electric-hydraulic proportional control system for the electric-pneuamtic servo control pendulum to drive the inverted pendulum. The electro-hydraulic proportional control system is a nonlinear and uncertain system inherently. The electro-hydraulic proportional control technology requires new control theory to improve its performance, but also need more control objects to verify the feasibility of the control theory. It is a breakthrough to the electro-hydraulic proportional control object with the two into a control system. It also lays the theoretical foundation for controlling more complex experiment objects in the future. The traditional control theory is difficult to meet the requirements of the control.The fuzzy control and variable universe of discourse fuzzy control of the advanced control theory can achieve a good control effect by responsing speed fast, having small overshoot and strong anti-interference ability in the nonlinear control systems.This paper devises the electro-hydraulic proportional control system of inverted pendulum, deduces the mathematical models of the inverted pendulum and the electro-hydraulic proportional inverted pendulum, analyses the system stability and observability of this inverted pendulum, and analyzes the response characteristics of the system on the base of linear model. It establishes a nonlinear model of the inverted pendulum in Matlab/Simulink software and constructs a nonlinear model of the electro-hydraulic proportional control system under the AMEsim software. It designs PID controllers, fuzzy controller and variable universe of discourse fuzzy controller, and controls the displacement and angle of the inverted pendulum. It builds the controller part in Matlab/Simulink software and co-simulates with AMEsim. The results show the designed controller can meet the control requirements. Results show that controller systemsatisfies the demand of the control.
Keywords/Search Tags:electro-hydraulic proportional inverted pendulum, nonlinear, variable universe of discourse fuzzy control, co-simulation
PDF Full Text Request
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