Research On Inverted Pendulum Control System Based On Improved Active Disturbance Rejection Control

The linear inverted pendulum as a most classic system in the inverted pendulum family has the characteristics of multivariable,strong coupling,single input and multiple output.And the inverted pendulum system has high requirements on the real-time control,therefore,it is complexity to control the inverted pendulum system to a certain extent.The control precision of the traditional inverted pendulum control theory has been difficult to meet the current needs,and the accuracy of its control needs to be improved.In order to improve the quality and the control precision of the inverted pendulum system,this paper develops a linear inverted pendulum control system based on improved active disturbance rejection control.Firstly,the model of the system is established,including:the mathematical model of the first-order linear inverted pendulum and the mathematical model of the position of the driving motor.Secondly,the improved active disturbance rejection control strategy is studied.From the nonlinear function research of the system,the nonlinear function with better zero smoothness and continuity is designed.It is an improved extended state observer and improved nonlinear error control rate.Based on the nonlinear function,an improved exten ded state observer with better observation performance is designed.The car position and the swing angle are respectively expanded into two states and the disturbance is estimated in real time.Based on the nonlinear function design The improved nonlinear state error feedback rate is nonlinearly integrated with the tracking differentiator's tracking signal and the state of the extended state observer to provide high quality output for the system;the improved inductive disturbance rejection control strategy tracking differentiator The improved extended state observer and the improved nonlinear state error feedback rate are simulated and analyzed respectively,which proves its good control performance.Then,combined with the characteristics of single-input and double-out strong coupling of the first-order linear inverted pendulum,an improved active disturbance rejection control strategy suitable for the first-order linear inverted pendulum is designed.In order to verify the control precision of the improved active disturbance rejection control strategy,a linear line is used.The inverted pendulum drive mechanism(AC servo motor)designed an improved active disturbance rejection control strategy for the control object.Finally,the designed control strategy is simulated and experimentally verified.The results show that this control strategy has better tracking performance,less overshoot,faster tracking speed,and control precision.As a classic nonlinear control object,the inverted pendulum is a complex nonlinear problem.In the control process,not only the angle of the pendulum but also the position of the car must be controlled,and the quality of the control is high.The linear inverted pendulum control system designed in this paper improves the performance of the control system while taking into account the two output variables,and it has achieved good results in experiments and simulations.This study has a certain significance for the study of higher-order inverted pendulum and more complex inverted pendulum systems.