Fractional Order Based Inverted Pendulum System Modeling And Optimization Control

Inverted pendulum system has the characteristics of high-order, multi-variable, non-linearity, strong-coupling and instability, to keep inverted pendulum system stable, thus, it is necessary to adopt effective control algorithm. As a typical experiment device, it can make the abstract control theory more visualized, such as the robustness problems, anti-interference problems, nonlinear problem. Meanwhile, the inverted pendulum also has been widely applied to such as aerospace and robot areas, so the study on the inverted pendulum system has profound theoretical and practical significance.The paper regards the rotary inverted pendulum as the experiment subject provided by the Googol Technology of Shenzhen, by using frequency domain least squares method to establish commensurate fractional order model,then fractional order PID controller is used to control the fractional order system,the main contents are arranged as the following:First of all, according to the inverted pendulum system with multi-variable, nonlinear, unstable characteristics, it is found that the traditional integer order model can not be accurately described, the fractional order system model is more accurate than the integer order system, closer to the real system. Therefore, this paper introduces fractional calculus modeling methods, establish commensurate fractional order model, and verifies its correctness, and then carries on the simulation research.Secondly, completed on circular level inverted on the stability of the equilibrium point control research, This paper uses more than integer order PID controller with two adjustable parameters of fractional order PID controller, And the selection of fractional order PID controller parameters, where the use of Signal Constraint optimization module optimization,Through the analysis and comparison of the control effect of integer order and fractional order PID, The results show that the fractional order PID controller can achieve the stability control of the real inverted pendulum simulation model, And with respect to the integer order PID controller can achieve a better control effect.