Inverted pendulum non-linear controller design method

Abstract

The invention provides an inverted pendulum non-linear controller design method, which belongs to the technical field of nonlinear control. According to the non-linear controller design method, a step controller design method is applied to the problem of inverted pendulum control, so that the whole performance of the controller is improved. The method is characterized by establishing a nonlinear model of an inverted pendulum system, designing a steady-state controller and designing a reference dynamic feedforward controller; designing a feedback controller: designing the feedback controller through a Lyapunov method for a closed-loop error system of an inverted pendulum; and finally, obtaining control laws of the whole system controller. The method not only solves the problem of limitation of a linear controller in a high-nonlinearity and complex-model multivariable system of the inverted pendulum, but also solves the problem that it is hard for intelligence algorithms of a cloud model and a neural network and the like to realize in the application process.

Description

Technical field [0001] The invention belongs to the technical field of nonlinear control. Background technique [0002] The inverted pendulum system, as a typical experimental device for studying control theory, has the advantages of low cost, simple structure, and easy adjustment of physical parameters and structure. The inverted pendulum system itself has the characteristics of high-order, multi-variable, unstable, nonlinear and strong coupling. It is an absolutely unstable system, which must be stabilized by an effective control strategy. The inverted pendulum system is an ideal experimental platform for studying control methods such as variable structure control, nonlinear control, target positioning control and intelligent control. [0003] The inverted pendulum system is generally composed of a trolley that can move freely on a horizontal track, an inverted pendulum and a hinge. There are many types of inverted pendulums, and the current researches are all pendulums that sw...

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Problems solved by technology

[0009] To realize the stable control of the inverted pendulum system with the method of modern control theory, the nonlinear model of the inverted pendulum system must be linearized, and then the controller is obtained by analyzing and synthesizing the performance indicators proposed for the system control, but for the inverted pendulum For such a multivariable system with strong nonlinearity and complex models, the linear system design method has limitations, while methods such as cloud model and neural network control require a large amount of data, the implementation process is complicated, and it is not easy to control online

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