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Control and Study of Planar Inverted Pendulum Base on Ac Servo System

Author: HeJie
Tutor: WangJiaJun
School: Hangzhou University of Electronic Science and Technology
Course: Control Theory and Control Engineering
Keywords: Plane inverted pendulum Permanent magnet synchronous motor Lagrange equation PID control Fuzzy Control
CLC: TP13
Type: Master's thesis
Year: 2009
Downloads: 92
Quote: 2
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Abstract


Inverted pendulum as a typical nonlinear, multi-variable, strong coupling and natural unstable dynamic system, physical, mechanical, mathematical and control a wide range of disciplines, many researchers as a typical experimental setup of control in teaching and research . In the control process can be an effective response system can be calm, robustness, servo and tracking key issues. Inverted pendulum and important engineering background, such as robots to walk upright, space take-off boosters attitude control, offshore drilling platform stability control are inverted pendulum as a physical model. The current inverted pendulum mainly concentrated in the one-dimensional inverted pendulum, and the main directions of research in inverted pendulum control of the body portion, rarely consider the performance of the drive unit for the inverted pendulum control performance. Permanent magnet synchronous motor plane inverted pendulum control system of the drive unit, the motor drive performance and dynamic characteristics considering the inverted pendulum, the plane inverted pendulum stability and tracking control. The paper introduces the mechanical structure and the mathematical model of permanent magnet synchronous motor, analyzes the vector control theory and voltage space vector pulse width modulation technology, given the permanent magnet synchronous motor vector control system simulation model and squiggles. The same time, using the Lagrange equation to establish a the plane inverted pendulum system dynamics model, step-by-step through the X-axis and Y-axis direction control, nonlinear plane inverted pendulum system mathematical model of the nonlinear decoupling, the Nonlinear Decoupling the X axis and the Y-axis direction inverted pendulum model. Then the inverted pendulum for the X-axis and Y-axis directions on the two decoupling nonlinear mathematical model, in the case under consideration the permanent magnet synchronous motor drive characteristics, the three PID control method of a planar inverted pendulum stability and tracking control. Simulation by Matlab / Simulink environment, compared to the three PID control method, the control performance of the PID control method is selected, the step signal the compasses trace in the sine wave signal, the cosine wave signal and the X-Y plane The signal location tracking control. Paper, the simulation results show that the PID control can achieve the plane inverted pendulum system stability and tracking control. The same time, in order to improve the control performance of the the plane inverted pendulum system, in the case of considering the permanent magnet synchronous motor drive performance using fuzzy adaptive PID and fuzzy control the plane inverted pendulum system stability and tracking control. Fuzzy adaptive PID control car position control using fuzzy adaptive PID controller, the pendulum swing angle control or the use of ordinary PID controller. Completely fuzzy control is first inverted pendulum by fusion of the matrix will be four output error signal into the integrated error and error rate, and then controlled by the fuzzy controller. The simulation results show that a fuzzy control plane inverted pendulum control system has better robustness and faster responsiveness. Finally, the plane inverted pendulum system physical platform hardware and software build process, in which the hardware part is a computer (PC) and TMS320F2812 as the control. The software part includes planar inverted pendulum control to the main program, DSP initialization routine, motor control subroutine subroutine car position and the pendulum angle measurement.

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CLC: > Industrial Technology > Automation technology,computer technology > Automated basic theory > Automatic control theory
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