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Research on Three Control Strategies Based on Inverted Pendulum

Author: WangJun
Tutor: PanJian
School: Hubei University of Technology
Course: Power Electronics and Power Drives
Keywords: inverted pendulum PID control optimal control pole assignment
CLC: TP13
Type: Master's thesis
Year: 2008
Downloads: 337
Quote: 3
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Abstract


Inverted pendulum is a typical multi-variable, non-linear, strong coupling and naturally unstable system. During its control process, Inverted pendulum can reflect many crucial questions in the control theory, such as calm question, non-linear problem, robust question as well as tracking question and so on. Therefore, inverted pendulum has been widely used to verify some qualities and effect of certain control theory or method. The research on inverted pendulum system has the profound significance in theory and project application. The correlative scientific research achievement has already applied to astronautics science technology and subject of robot and so on.In this paper, we firstly use Newtonian mechanics analysis method to establish the linear state equations of the linear 1-stage inverted pendulum’s physical system. In the meantime, the system is unstable by analyzing the linear state equation, but it is also controllable and observable. And then we describe in detail the hardware and software on the physical system of the linear 1-stage inverted pendulum, focusing on the use of the real time control software based on MATLAB/Simulink real-time toolkit RTW(Real-Time Workshop).The thesis has been mainly discussed the control methods of inverted pendulum system based on PID control algorithm, the linear quadratic optimal control algorithm and the pole assignment algorithm, and then we design the controllers of the three control algorithm. We analyze the advantages and disadvantages of the three control algorithm through MATLAB/Simulink. In the design of PID controller, this paper has put forward the parameter turning method which is based on MATLAB/Simulink. Using this method, we have turned the PID control parameters better and faster. Through MATLAB/Simulink simulation, we find out that traditional PID control algorithm can be well-placed to control the pendulum’s angle of this output, and the control for another output-car displacement’s control is not effective. So PID control for linear 1-stage inverted pendulum, which is the single-input and two-output system, is unable to achieve stability control. In the design of LQR optimal controller, we have summed up the general principle of the performance matrix Q choice through MATLAB simulation, which gives a certain theoretical guidance for the practical application of LQR algorithm. Meanwhile, through MATLAB simulation we know that LQR algorithm can effectively control inverted pendulum system, which has good steady results. In the design of the pole assignment controller, we have also proved that it can control inverted pendulum effectively through MATLAB simulation. At the same time, by comparing the pole assignment method with LQR method through MATLAB simulation, we have found that the pole assignment has the faster response time, better robustness and dynamic, but LQR method has smaller overshoot and better steady-state results. Finally we have pointed out that the pole assignment method is suitable for applications that require fast response in the control system, and LQR method is suitable for applications that require higher steady-state performance in the control system.

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