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Predictive control method for guaranteeing closed-loop stability of inverted pendulum system based on RBF-ARX model

A RBF-ARX, predictive control technology, applied in the field of infinite domain model predictive control, can solve the problems of not considering the closed-loop stability of the system, the control effect of the controller is easily affected by changes in the external environment, and the accuracy of the model depends on the accuracy. High practical value, improve dynamic and static performance, and ensure the effect of closed-loop stability

Active Publication Date: 2019-02-22
CENT SOUTH UNIV
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  • Application Information

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Problems solved by technology

The above inventions are all based on the Lagrangian method and Newtonian dynamics method to establish the physical model of the inverted pendulum system. During the establishment process, friction, air resistance, etc. are ignored, and the accuracy of the model depends on the accuracy of the physical parameters of the device. Control The control effect of the controller is easily affected by changes in the external environment, and the closed-loop stability of the system is not considered in the design process

Method used

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  • Predictive control method for guaranteeing closed-loop stability of inverted pendulum system based on RBF-ARX model
  • Predictive control method for guaranteeing closed-loop stability of inverted pendulum system based on RBF-ARX model
  • Predictive control method for guaranteeing closed-loop stability of inverted pendulum system based on RBF-ARX model

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Embodiment Construction

[0025] The linear two-stage inverted pendulum system of the present invention is as figure 1 shown. The linear motor is connected to the trolley through the conveyor belt, the trolley is connected to the first swing rod (ie the swing rod 1) through the connecting block, and the second swing rod (ie the swing rod 2) is connected to the first swing rod through the mass block. During the control process, the motor controls the trolley through the conveyor belt so that the trolley moves along the track. figure 1 Move left and right in the x-axis direction, and then control the first pendulum and the second pendulum in figure 1 Swing around the y-axis in the xy-plane. The parameters of the linear two-stage inverted pendulum system are shown in Table 1.

[0026] Table 1 Structural parameter list of linear two-stage inverted pendulum

[0027]

[0028] The present invention utilizes data-driven identification technology, adopts a modeling method based on RBF-ARX without offset it...

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Abstract

The invention discloses a predictive control method for guaranteeing the closed-loop stability of an inverted pendulum system based on an RBF-ARX model. According to the method, the data-driven systemidentification technology is employed, a modeling method based on the RBF-ARX model without offset item for a linear double inverted pendulum is designed, and the nonlinear dynamic characteristics ofthe inverted pendulum can be effectively described. Based on the global nonlinear dynamic characteristics of the RBF-ARX model without the offset item of the linear double inverted pendulum, an infinite domain model predictive control algorithm capable of ensuring the closed-loop stability of the system is designed, the dynamic and static performance of an inverted pendulum control system can beimproved further, and the method has a high practical value. The method is more suitable for the inverted pendulum control system with high requirements on dynamic and static characteristics and rapidity of the control system.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to an infinite domain model predictive control method based on an RBF-ARX model that can ensure the closed-loop stability of a linear two-stage inverted pendulum system. Background technique [0002] Inverted pendulum is a typical fast, nonlinear, underactuated, strongly coupled, open-loop unstable system, which requires high model accuracy and control algorithm, so it is widely used in teaching and control theory research. The research on the control of inverted pendulum has important significance and wide application value in the military industry, aerospace, robot and general industrial production process in theory and methodology. [0003] At present, the LQR controller has been widely used in the stability control problem of the inverted pendulum system due to its advantages of small amount of calculation, simple design and strong real-time performance. With the cont...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 彭辉田晓盈
Owner CENT SOUTH UNIV
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