Research On The Control And Chaos Of Inverted Pendulum Mounted On A Plane Manipulator With Two Degrees Of Freedom

In engineering field, many problems can be abstracted as questions related to inverted pendulum model or the control. And from the dynamic point of view, inverted pendulum is usually classified as a typical model of nonlinear under-actuated system, so its dynamic behaviors are very complex. Therefore, the study of the inverted pendulum system has a great significance engineering in both theoretical and practical practice.Over the past few decades, many researchers have done a great number of investigations on such issues and amount of results have being come out. However, the research was mainly focused on the linear inverted pendulum and rotary inverted pendulum, whereas the research on the planar inverted pendulum are less, especially the inverted pendulum mounted on a plane manipulator with two degrees of freedom.This thesis focuses the control and chaos phenomenon of inverted pendulum mounted on a plane manipulator with two degrees of freedom (provided by Googol company, type GPIP2013).The main works of this thesis are as follows:First of all, with the product (type GPIP2013) and program provided by Googol company, some experiments have been conducted. Having briefly analyzed the results, some parameters which directly affect the controlling results are summed up. The impacts of variation of these parameters on the controlling effect are discussed.Secondly, from the experiments, it is found that the motion of the manipulator is unstable during the controlling. In order to eliminate this phenomenon, based on the analysis of reasons for it, a method is proposed by using kinematic-equivalent model. With the this model, one can transfer the controlling of inverted pendulum mounted on a plane manipulator with two degrees of freedom into the controlling of planar inverted pendulum.Lastly, with kinematic-equivalent model, it is found out there exist the chaotic motion in the controlling of inverted pendulum mounted on a plane manipulator with two degrees of freedom. Based on the liner negative feedback control method, the unified controlling parameter is adopted to design the controller, and the results of simulation prove the efficiency of the controller.