Inverted Pendulum Modeling, Simulation And Control

(1) Inverted pendulum is a system of a high order time, unstable, multivariable,nonlinear and strong coupling characteristic, in the control field, the control of an inverted pendulum system has been the main content of discussion and research. many scholars specialize in the theory of control take the inverted pendulum system as the controlled object,applying new control strategies and control methods to the system to verify the algorithm's validity and feasibility.Based on the double inverted pendulum model, the main research contents of this paper are as follows:(2) Summarize the inverted pendulum system's research background, research significance, research status and the research trend, and so on, and making a simple introduction on a variety of control algorithm for inverted pendulum system.(3) Making a principle analysis and a force analysis for the double inverted pendulum system, using Lagrange method to establish the mathematical model of linear double inverted pendulum system, building mathematical model of the system in the Simulink environment.(4) Because the control theory has experienced three development stages: the classical control theory, modern control theory and intelligent control theory, so this paper improves the methods of the classical control to control the inverted pendulum system.Control algorithms are: PID control algorithm,the state feedback control algorithm based on the observer linear quadratic optimal control algorithm, the LQR control algorithm based on Kalman filtering and fuzzy control algorithm, compared with the other kinds of controller, fuzzy controller is easy to design, save time, and can achieve better output.(5) In the physical control, due to capacity constraints, only make line level inverted pendulum, taking K60 as the main control chip, selecting PID control algorithm for real-time control.