Control Algorithm And Controller Design Based On Inverted Pendulum System Of Linear Motor

In the field of control,inverted pendulum system is a typical experimental device,which is of great significance for research and practice.The inverted pendulum model has a wide range of applications.From the center of gravity in life,the control problem on the upper fulcrum to the attitude adjustment of rocket launching is similar to the inverted pendulum model.At the same time,inverted pendulum as a good algorithm verification platform can be used to verify the advanced algorithm in the platform,and transform the results to aerospace,robotics and other fields.In this paper,the fuzzy control algorithm of adaptive neural network and the development of the controller are studied on the basis of the two level inverted pendulum of linear motor.Aiming at the problem of modeling error caused by the motion conversion mechanism in the traditional two level inverted pendulums,a linear motor is used as its driving device,which directly saves the motion conversion mechanism and greatly reduces the modeling error.Aiming at the dynamic modeling problem of two level inverted pendulum system of linear motor,the Lagrange method is used to build the mathematical model,and the stability,observability and controllability of the system are analyzed.In the design of two stage inverted pendulum system controller of linear motor,this paper first uses LQR controller to control it.For LQR controller,Q matrix and R matrix can only be obtained by trial method.In this paper,a reasonable fitness function is designed through genetic algorithm to optimize Q matrix and R matrix.Then,aiming at the poor adaptability of LQR controller with genetic optimization,an adaptive neural network fuzzy controller(ANFIS)is designed based on it,and good simulation results are achieved.In the design of the controller,in order to prevent the "blur rule explosion",the fusion function of the system is designed by the information fusion technology.According to the algorithm code hard to write this problem,this paper adopts the idea of code generation,introduces the experimental model of experimental platform is built and the corresponding algorithm,after stabilization control of two kinds of control algorithm can realize the linear motor two inverted pendulum system is found through experiments,and the ANFIS controller effect is better.Finally,through three practical projects,this paper has a certain practical significance.