Simulation Study On Control Strategy Of Inverted Pendulum System

The main content of this paper is to study the control strategy of two stage inverted pendulum system.The inverted pendulum system has been used as an ideal experimental platform to study the nonlinear and robustness problems.Researchers can find some better control methods through the continuous exploration and research of the inverted pendulum system.Therefore,the study of inverted pendulum system is of great significance.The main research work of this paper is as follows:First,describes the composition of inverted pendulum system research background,research significance,research status at home and abroad on the inverted pendulum system,according to the mathematical model of Lagrange principle to establish two inverted pendulum system,at the equilibrium position of the linearized system,get the state space equation system.Using the theory of linear system,stability test of inverted pendulum system controllability and observability,finally we can draw the inverted pendulum system is unstable,but the equilibrium point is controllable and observable.Then,the LQR control of two stage inverted pendulum is studied.The core of LQR control is to select the appropriate state feedback matrix K,and K depends on the weighting matrix Q and R.Trial and error method is usually used to find Q and R,but sometimes the effect is not good.Therefore,the genetic algorithm is used to optimize the parameters of LQR,the optimal control parameters Q and R are obtained,and then the output response curve is obtained through MATLAB simulation experiment,and the control effect is analyzed.Finally,the fuzzy control of the two stage inverted pendulum is studied.Because of the two state variables of the circular inverted pendulum,the problem of "rule explosion" will appear,so it is necessary to set up a complex fuzzy rule,which makes the design of the fuzzy controller more difficult.6.So we introduce the variable fusion technology to reduce the input variables,and design a two-dimensional fuzzy controller,which greatly reduces the difficulty of the design.Then the controller is designed by choosing the appropriate scale factor,the quantization factor and the control rules.Finally,the system structure model is established by using the fuzzy control of MATLAB/Simulink tool,and the ideal control effect is obtained through continuous debugging and modification.By comparing the simulation results of the system,the two control methods of LQR and fuzzy control have good control effect on the inverted pendulum system,and each has its advantages and disadvantages.