Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Design Method of Nonlinear Controller for Inverted Pendulum

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 difficult online control, large number, complex realization process, etc.

Active Publication Date: 2018-11-13
JILIN UNIV
View PDF4 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Design Method of Nonlinear Controller for Inverted Pendulum
  • Design Method of Nonlinear Controller for Inverted Pendulum
  • Design Method of Nonlinear Controller for Inverted Pendulum

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0058] Based on the mechanics and kinematics equations of the single-stage inverted pendulum system, the mathematical model of the single-stage inverted pendulum system is established. A non-linear control method of the inverted pendulum with feed-forward control, steady-state control and feedback control is designed by using the step-by-step 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 a steady state into the system, and obtain a faster control response; design a reference dynamic feedforward controller, when the desired reference input When the dynamic changes, the corresponding adjustment effect of the system is introduced into the system to obtain the feedforward control law gain related to the system state; the feedback controller is designed, and the feedback controller is ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

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] As a typical experimental device for studying control theory, the inverted pendulum system 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, and an effective control strategy must be adopted to make it stable. 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 generally consists of a trolley that can move freely on a horizontal track, an inverted pendulum and a hinge. There are many kinds of inverted pendulums, and the current studies are all pendulu...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
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
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products