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Study and Realization of Swing-up and Balance Control of Linear Inverted Pendulum

Author: ChenCong
Tutor: HouXiangLin
School: Shenyang University of construction
Course: Mechanical and Electronic Engineering
Keywords: Mechanical model of linear Inverted Pendulum Swing-up and balance control Optimization algorithm of dynamic design variables Simulation analysis
Type: Master's thesis
Year: 2013
Downloads: 12
Quote: 0
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Inverted pendulum is a typical nonlinear system of high-order, multivariable, strong coupling and natural instability, and its background of theoretical research and practical application is very profound. It would be more and more difficult to be controlled with the increasing of the numbers of its pendulums. The more complicated the object is, the harder to get its precise mathematical model. What’s more, the Inverted Pendulum system often shows so strong nonlinearity and instability that design theories of the control systems based on linear models become powerless to solve the control problem of such a complicated system. Therefore, the optimization algorithms of dynamic design variables is put forward based on the existing research results. The method is certainly effective and practical and can be used to solve this kind of nonlinear problems.Linear Inverted Pendulum is seen as the object of research in this paper, and its swing-up control and balance control as a nonlinear system were researched in this paper, the main contents are as follows:At first, the basic characteristics, research history and current situation are showed, and the signification and value of this sort of research for the practical application and control theory study are described. Otherwise, the classification of Inverted Pendulum and its control problem are introduced, too. And the main work of this paper is put forward at the end of this part.Secondly, the mechanical analysis and algorithm calculation are done separately with single and double Inverted Pendulum, and the d’Alembert principle and the analytical mechanics were applied to get the relatively accurate nonlinear mechanical model of single linear Inverted Pendulum and double linear Inverted Pendulum, and the differential equations are obtained at the same time. However, the basement of further study is prepared well.Thirdly, based on the differential equations and applying the Visual Fortran Powerstation4.0to finish the optimization and simulation programs, the control data in the swing-up process and the balance process of single linear Inverted Pendulum and double linear Inverted Pendulum were obtained, and the calculation and simulation are done here. And the feasible and validity of optimization algorithms of dynamic design variables are proved.And then, as the object of research here, the composition and structure of single linear Inverted Pendulum system were introduced. Design and fabrication process of the simple single linear Inverted Pendulum device was outlined and the task of design, fabrication and installation of simple device has been completed. And what’s more, the control experiment has made certain foundation for further practice and research.At last, a brief summary of this paper was made. Considering the shortages of the present research work.contents and key of further research are determined. At the same time, the prospect of the study and experiment in the future was also put forward.

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