An Iterative Feedback Tuning Control and Its Robust Optimization Method for Rotating Inverted Pendulum
A technology of rotating inverted pendulum and robust optimization, which is applied in adaptive control, general control system, control/regulation system, etc. It can solve the problems of complex parameter setting, difficulty in realizing high-order inverted pendulum stability control, and restricted application , to achieve the effect of avoiding precise estimation requirements, good robustness, and improving applicability
Active Publication Date: 2021-06-15
JIANGNAN UNIV
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However, these methods have some limitations. For example, the state feedback control must have an accurate model of the controlled system, and it is difficult to achieve stable control of the inverted pendulum, especially the high-order inverted pendulum, when the accuracy of the model is insufficient; The chattering caused by the switching state of the rotating inverted pendulum restricts its application; PID control is still the most common control method, and the multi-closed-loop PID has a good control effect on the lower-order rotating inverted pendulum, but compared with the multi-closed-loop PID Based on the basic PID, its parameter tuning is more complicated
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[0108] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.
[0109] This application discloses an iterative feedback tuning control of a rotating inverted pendulum and its robust optimization method,
[0110] Step 1: Establish the Lagrangian and state space models of the rotating inverted pendulum based on the inverted pendulum mechanism and hardware structure;
[0111] figure 1 It is a schematic diagram of the swing model of the rotating inverted pendulum. On this basis, the mathematical model of the rotating inverted pendulum is constructed. The rotating inverted pendulum system includes a base, a transmission device, a swing rod and a swing arm. The base is used to ensure the stability of the mechanical structure when the swing rod swings; The end of the swing arm is connected to the swing rod, and the rotation of the DC motor drives the movement of the swing rod through the transmission device; the...
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The invention discloses an iterative feedback tuning control of a rotating inverted pendulum and a robust optimization method thereof, and relates to the field of robot optimization control. The method includes: establishing the Lagrangian and state space of the rotating inverted pendulum based on the mechanical and hardware structure of the inverted pendulum Mathematical model; design double closed-loop controller for iterative feedback tuning of rotating inverted pendulum; analyze the convergence of the algorithm for iterative feedback tuning PD controller; introduce auxiliary factors to further optimize the robust iterative feedback tuning angle PD controller to realize the rotating inverted pendulum system It can track the expected trajectory quickly and with high precision; the control algorithm of the method of this application is simple and efficient, and does not need to obtain the parameters of the model itself, and the unbiased gradient of the index function to the controller parameters is calculated through I / O data drive; the algorithm introduces auxiliary factors , so that the control system can better respond to changes in the input signal and thus have better robustness.
Description
technical field [0001] The invention relates to the field of robot optimization control, in particular to an iterative feedback setting control of a rotating inverted pendulum and a robust optimization method thereof. Background technique [0002] As a typical underactuated nonlinear system, the rotating inverted pendulum has the characteristics of instability, multi-variables, strong coupling, etc., and well integrates the three basic disciplines of mathematics, electricity and mechanics. Therefore, the control of the inverted pendulum system is not only of great significance, but also extremely challenging, and is highly valued by experts and scholars of control disciplines all over the world. In addition, the rotating inverted pendulum, as the simplest model of many control objects such as robots and rocket flight attitudes, is an ideal experimental platform to verify the correctness of various control theory strategies, and builds a bridge for control theory and engineer...
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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陶洪峰庄志和周龙辉刘巍
Owner JIANGNAN UNIV