Study On Tracking Control And Simulation Of Inverted Pendulum

Inverted pendulum system is a typical nonlinear system with unstable,multivariable,underactuated,strong coupling and non-minimum phase.In the control process,the inverted pendulum system can effectively reflect the control system's non-linear,robustness,stability,follow-up and many other problems.Therefore,the inverted pendulum is often used in the control field to test the effectiveness of new control methods and algorithms.At the same time,inverted pendulum has also been widely used in aerospace,military fields,mechanical systems,robots and other fields.In this paper,the research background and development status of inverted pendulum system in the domestic and abroad are described,and the classification and basic structure of inverted pendulum are introduced.Secondly,several commonly used control methods of inverted pendulum system are analyzed.According to the characteristics of inverted pendulum system,the modeling process of inverted pendulum system is derived by Lagrange equation.In order to realize the stability control and tracking control of inverted pendulum system,according to the characteristics of different types of inverted pendulum system,PID control system is designed for the first level linear inverted pendulum,X-Z plane inverted pendulum and spatial inverted pendulum,and the feasibility and effectiveness of the designed control system is verified by MATLAB/Simulink.At the same time,in order to reduce the difficulty of adjusting control parameters in the inverted pendulum PID control system.In this paper,Particle Swarm Optimization(PSO)Algorithm,Shuffled Frog Leaping Algorithm(SFLA)and Differential Evolution(DE)Algorithm are used to optimize the control parameters of different types of inverted pendulum control system,and the simulation experiment proved that the performance of the optimized control system is effectively improved.In addition,by referring to the cascade control method frequently used in the field of AC motor control,the cascade control structure is designed for X-Z plane inverted pendulum and spatial inverted pendulum,respectively.Through the cascade control structure,the inverted pendulum control system is decomposed into the external position control loop and the internal attitude control loop,and the time scale separation is realized to reduce the design difficulty of the inverted pendulum control system.Finally,in order to facilitate the observation of all the degrees of freedom of the controlled object in the control process,to help people make a more accurate preliminary assessment of the entire system,so that people can more intuitively understand the final result of the dynamic model,this article use the V-Realm Builder tool to draw the 3D virtual reality model of inverted pendulum,and establishes the connection between the 3D virtual reality model and the MATLAB/Simulink model through the VR Sink module in the virtual reality toolbox.In the end,through dynamic simulation,the tracking control process of spatial inverted pendulum is demonstrated in virtual reality scene.