Research On Modeling And Control Algorithm Of Four-axis Aircraft-inverted Pendulum System

With the development of modern control theory, automatic control level also continues to improve. In order to meet the growing progress in the theory and control technology, inverted pendulum system has become a burning platform for the domestic and foreign researchers in testing theory and technology. Based on the unstable and strong coupling characteristics of the inverted pendulum system, the intelligent control method has been taken the place of the traditional control method in controlling the system. And with more and more mature control method occur, the tasks of the inverted pendulum control system become more complex, which not only reflect in increased series,but also in the high difficulty movement to achieve. Different from the traditional control of the linear inverted pendulum, the planar inverted pendulum and the circular inverted pendulum, the research object of this paper is based on four axis aircraft carrier of the inverted pendulum model, through the use of intelligent control algorithm to realize the stable control. This special form of inverted pendulum system mainly contains a four axis aircraft and a rod(or a glass), rod can balance on the four axis aircraft, and four axis aircraft can also realize the complex tasks that throwing and catching the pole. Since the complexity of the four axis aircraft—inverted pendulum system, this paper would has some corresponding simplification that dividing the system into two parts: the planar inverted pendulum model which based the X-Y platform as the carrier; the four axis aircraft model. Through the study of these two systems, building the foundations for the stability control of the four axis aircraft—inverted pendulum system. Thus, the main contents of this paper are as follows:(1) Through the establishment of the mathematical model of the planar inverted pendulum system, obtaining the linear dynamic equation of the inverted pendulum by make the linearization at the equilibrium position. Based on the linear quadratic optimal control algorithm and the genetic algorithm, designing the controller of the two levels of inverted pendulum, and having the corresponding simulation control experiment of the system. The experimental results show that the two algorithms can achieve the stability control of the planar inverted pendulum system, that the response speed is fast and both of them have good robustness and anti disturbance.(2) Based on the mathematical model of the four axis aircraft system, achieving the linearized dynamic equations of the four axis aircraft that have the linearization at the equilibrium position. Applying the linear quadratic optimal control algorithm and the Back-stepping sliding mode control algorithm, to design the controller of the four axis aircraft, and carry out the corresponding simulation experiment. The experimental results show that the two algorithms can achieve the stability control of the four axis aircraft system.(3) Based on the research of the stability control of the plane inverted pendulum and the four axis aircraft system, to establish the model of the four axis vehicle—inverted pendulum system. According to this special form of the inverted pendulum system, the complex motion behavior of the four axis aircraft is analyzed. Then, using the sliding mode control algorithm, to design the controller of the four axis vehicle—inverted pendulum system. Finally, carrying out the simulation experiment of the system. The experimental results show that the algorithm can achieve the stability control of the system.