Overview
The inverted pendulum control system is a complex, unstable and non-linear system, which is an ideal experimental platform for teaching control theory and conducting various control experiments. The research on inverted pendulum system can effectively reflect many typical problems in control: such as nonlinear problems, robustness problems, stabilization problems, following problems and tracking problems. Through the control of the inverted pendulum, it is used to test whether the new control method has a strong ability to deal with the problems of nonlinearity and instability. At the same time, its control methods are widely used in military, aerospace, robotics and general industrial processes, such as balance control during robot walking, verticality control during rocket launch, and attitude control during satellite flight.
classification
The inverted pendulum system can be divided into first-level, second-level, and third-level inverted pendulums according to the number of pendulum rods. Multi-level pendulum pendulums belong to their own connections (ie, no motor or other driving equipment). Now the "Fuzzy Systems and Fuzzy Information Research Center" and the Intelligent Control Laboratory of Complex Systems led by Professor Li Hongxing of Beijing Normal University in China have successfully implemented a four-stage inverted pendulum using variable-domain adaptive fuzzy control. It is the first country in the world to successfully complete the four-level inverted pendulum experiment.
Control goal of inverted pendulum
The control problem of the inverted pendulum is to make the pendulum rod reach a balanced position as soon as possible, and make it free from large oscillation and excessive angle and speed. When the swing lever reaches the desired position, the system can overcome the random disturbance and maintain a stable position.
Inverted pendulum control method
The input of the inverted pendulum system is the displacement (ie position) of the cart and the expected value of the tilt angle of the pendulum. The computer collects the actual position signals of the cart and pendulum from the sensor in each sampling period, and compares it with the expected value through the control algorithm Obtain the control quantity, and then drive the DC motor through digital-analog conversion to realize the real-time control of the inverted pendulum. The DC motor drives the trolley to move on a fixed track through a belt. One end of the swing rod is installed on the trolley, and the swing rod can swing freely on a vertical plane based on this point as the axis. The force u acts on the trolley parallel to the direction of the rail, causing the rod to rotate in a vertical plane around the axis on the trolley, and the trolley moves along the horizontal rail. When there is no force, the swing bar is in a vertical stable equilibrium position (vertically downward). In order to make the pole swing or achieve vertical stability, it is necessary to give the trolley a control force so that it is pulled forward or backward on the track.
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