Inverted pendulum non-linear controller design method

A design method, inverted pendulum technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of complex realization process, large number, difficult to control online, etc.

Active Publication Date: 2016-11-09
JILIN UNIV
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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 th

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Embodiment Construction

[0058] Based on the mechanics and kinematics equations of the single-stage inverted pendulum system, a mathematical model of the single-stage inverted pendulum system is established. The non-linear control method of the inverted pendulum with feedforward control, steady-state control and feedback control is designed by the stepwise method, and the high-precision control of the single-stage inverted pendulum is realized.

[0059] Establish a nonlinear model of the inverted pendulum system; design a steady-state controller, input the control law when the system output reaches the steady state into the system, and obtain a faster control response; design refer to the dynamic feedforward controller, when the expected reference input When the dynamic changes, the corresponding adjustment effect produced by the system is introduced into the system, and the feedforward control law gain related to the system state is obtained; the feedback controller is designed, and the feedback controll...

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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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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 马彦李炳思茹敬佩刘奇芳王留孙延帅鲁超王君赵海艳陈虹
Owner JILIN UNIV
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