Research On Intelligent Control Algorithm Of Rotary Inverted Pendulum Based On Kalman Filter

Various control strategies based on the classical,modern and intelligent control theory have achieved the stability control and trajectory tracking control of the inverted pendulum system,which need to use the angle signal and the angular velocity signal of the pendulum as the basis of stability control.In real time control,the angle signal of the pendulum rod is polluted by the measurement noise and the noise is amplified when the angular velocity signal is obtained,which makes the controller output oscillate.Besides,the implementation process of the motor is mixed with disturbance signal,which lead to instability of the system.Under the influence of the disturbance,the robustness and the anti-interference performance of the controller is limited.However,when designing control algorithm,the majority of researchers have not considered the influence of system noise,measurement noise,external disturbance and modeling error,and scholars have seldom involved in the study of combining the kalman filtering algorithm with the control algorithm to improve the performance of the controller.therefore,In this paper,the rotary inverted pendulum is chosen as the controlled member,and to illustrate the feasibility of the method which using kalman filter algorithm to improve the anti-interference of the controller,the following research work is carried out:(1)In the actual operation of the rotary inverted pendulum,there will be mechanical wear,a variety of friction,external interference,internal interference.Considering all mentioned above,the nonlinear dynamic nominal model and the linear state space model of the inverted pendulum are established.(2)The LQR controller is used to steadily control the linear state space model of the rotational inverted pendulum.Besides,the control effect is observed by simulation experiment.The simulation results show that the LQR controller can not output feedback precisely in the application of rotational inverted pendulum with various noises,so that optimal control of the system can not be achieved.Therefore,the kalman filter algorithm is used to design the state observer to improve the LQR controller.The simulation results show that the method is effective.(3)Considering the non-linearity of the rotational inverted pendulum,an LQR controller based on unscented kalman filter is designed.The control precision androbustness of the LQR controller are further improved,and the validity and feasibility of the simulation experiment verification method are designed.(4)For the nonlinear dynamic nominal model of the rotary pendulum,a variable gain sliding mode control(SMC)strategy is proposed to realize stable control and trajectory tracking control.The control effect is observed by simulation experiment.(5)Aiming at the problem of variable gain sliding mode controller simulation,a non-singular terminal sliding mode control strategy based on unscented Kalman filter is proposed.And a simulation experiment is designed.The simulation results verify the effectiveness and superiority of the method.