Research On Active Disturbance Rejection Control Technology Of Rotating Inverted Pendulum System

As an underactuated,strongly coupled and unstable nonlinear system,the rotating inverted pendulum has always been regarded as one of the ideal platforms for the study of control theory.The so-called Active Disturbance Rejection Control(ADRC)is a reliable and effective control method,and its research has great reference value and guidance for complex,nonlinear and large time delay systems.The research on ADRC technology is in the ascendency at home and abroad.This paper first introduces the research background and significance of inverted pendulum system,domestic and foreign research trends and the status of ADRC technology at home and abroad.The S function and Sim Mechanics function of Matlab are used to establish the dynamics model of the inverted pendulum,and the control problem of the inverted pendulum is simulated.Based on the Lagrange equation,the dynamic characteristics of the rotating inverted pendulum were analyzed deeply,and the mathematical model of the dynamics of the rotating inverted pendulum was obtained,and the S function model was established.In addition,the physical simulation model of the rotating inverted pendulum is established by Sim Mechanics.Based on the two models,the controller is designed by using PID algorithm,and the balance control of the inverted pendulum is realized.The output curves of the simulation model obtained by the two different methods are consistent,and the correctness of the simulation model is proved by mutual verification.Secondly,based on the technical principle of ADRC,the composition,function and performance of each part of ADRC are analyzed.The parameter selection and performance evaluation of each part structure of ADRC are analyzed in detail.The construction and stability of the key extended observer and the linear extended observer are compared.In addition,the LADRC algorithm is used to design the controller,and the balance control simulation of the inverted pendulum system is realized in MATLAB environment.Thirdly,on this basis,the experimental system based on STM32 single chip microcomputer is built,and the core structure of the system is given,that is,the rotary arm,the swing rod,the DC motor,the hardware circuit and the software of the system.STM32F103C8T6 is selected as the main chip of the controller.The control law is calculated according to the received angular displacement sensor signal,and the PWM output is generated through the TIM3 module to control and drive the motor.Finally,the PID algorithm and the linear active disturbance rejection control algorithm are used to write the control program under the environment of C language,and the control experiment is carried out.By comparing the experimental results,it is found that the ADRC control algorithm has good rapidity,low overshoot,stable operation and good anti-disturbance effect,and good motion balance control effect for the inverted pendulum robot.