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Intelligent control plane inverted pendulum system and virtual prototyping

Author: LiuXiLin
Tutor: KongFanGuo
School: Wuyi University
Course: Mechanical Design and Theory
Keywords: Plane inverted pendulum Lagrange equation Linear quadratic optimal control Adaptive neuro-fuzzy control Genetic optimization control Virtual Prototyping
CLC: TP273.5
Type: Master's thesis
Year: 2010
Downloads: 69
Quote: 0
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With the development of science and technology, the increasing complexity of the controlled object, the control performance requirements continue to increase. Rigorous mathematical tools of linear algebra, optimization methods as the representative of modern control theory to solve than the classical control theory many complex systems, but still can not meet the needs of contemporary technology, the need to introduce new control strategy. With the gradual development of the field of artificial intelligence, intelligent control has increasingly shown its superiority in solving complex control problem of the controlled object, and shows strong vitality in the practical application. With the rise of intelligent control, intelligent control algorithm is also emerging and development of a variety of intelligent control algorithm is the focus of current research in the field of intelligent control content. Inverted pendulum system is a typical high-end times, multivariable, strong coupling and absolutely unstable nonlinear systems, the control process can effectively reflect the control of many key issues, such as calm, nonlinear and robust sexual problems. Therefore, the inverted pendulum system is often used to test the effectiveness of the control theory, the course of the study not only has far-reaching theoretical value, but also has important engineering background and practical significance. In this paper, based on the XY CNC platform plane level, secondary and tertiary inverted pendulum for the study, their mathematical model, intelligent control method and control of virtual prototype. To sum up, the major work done in this article are: 1. System model: using Lagrange equation, succeeded in establishing the plane level, secondary and tertiary inverted pendulum dynamics equation in equilibrium position of the Taylor series expand and linearization, the the decoupled linear model of the system in the XY two orthogonal directions, and based on their model to analyze the stability and controllability of the system. Control method: a plane double inverted pendulum physical system as a platform to design the linear quadratic optimal controller and adaptive neuro-fuzzy controller, and succeeded in achieving their physical control; based on the theory of genetic algorithm, first proposed the concept of genetic optimization and control the implementation of the three genetic optimization control, and successfully applied to plane a double inverted pendulum control in kind. 3 virtual prototype: a planar three inverted pendulum for the study, the use of ADAMS software to establish its virtual prototype model and using ADAMS and MATLAB simulation platform successfully achieved the the plane triple inverted pendulum control simulation of virtual prototype.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Automation systems > Automatic control,automatic control system > Computer control, computer control system
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