Research On Control Algorithm Based On Inverted Pendulum

The inverted pendulum under natural conditions is a typical nonlinear,unstable,strong coupling system.It is an ideal device for verifying the correctness of various new control methods.During its control process,it can reflect many key questions that are focused in the field of control,such as robustness,dynamic and fast tracking.Therefore,the controlling methods of the inverted pendulum system has a significant meaning in researching field and engineering field.The successful scientific payoffs have already widely applied in aerospace,robotics and so on.The linear double inverted pendulum is analyzed and implemented in this paper.This paper mainly studies in the following aspects:1.The mathematical model of inverted pendulum is derived by Lagrange equation in terms of energy conversion.And a qualitative analysis is made on it by using linear control theory,then get the conclusion that the inverted pendulum is controlled and observable.2.The modern control method and intelligent control method of inverted pendulum system is deeply researched in this paper,and designs the inverted pendulum system controller with optimal control method,variable structure control method and fuzzy control method.When the optimal control method is used to control the inverted pendulum system,the genetic algorithm is used to optimize the controller elements to simplify the parameter optimization process;When the variable structure control method is used to control the inverted pendulum system,the chattering phenomenon is eliminated based on reaching law,thereby the stability of the system is increasing;When the fuzzy control method is used to control the inverted pendulum,the optimal feedback state matrix is used to design fuzzy controller with the dimension reduction matrix,and the parameters,membership function and fuzzy rule of the fuzzy controller is optimized by using genetic algorithm.Simulation is carried out in the Simulink,and the simulation results verify that the performance index of the control system is better if its parameters are optimized.3.The above three control algorithms are used to control the inverted pendulum with a interference,and the control results is analyzed.The control experiment results show that the fuzzy control method has the lowest steady-state error of the inverted pendulum and the largest is variable structure control.The adjustment time of the variable structure control is the shortest,and the optimal control algorithm is the longest.Through the comparative analysis of the control experiment results,the optimal control has good control precision but poor speed and anti-interference ability.The variable structure control has the strongest antiinterference ability but the control precision is the worst,but the fuzzy control takes into account the stability and robustness,reflecting the intelligent control is better.Through the research of control methods on the inverted pendulum,it is found that each control method has its own advantages and disadvantages,but the advantages of the intelligent control method are more obvious.If the optimization algorithm is used to enhance the accuracy of the intelligent control method,a better controller will be obtained.And the control theory and control methods develops in this way.While designing best controller,all aspects of the system performance must be considered.