Single Inverted Pendulum Based On Linear Motor

The traditional inverted pendulum is driven by rotary motor and transmission mechanism,thus there will be backlash, hysteresis and friction, which makes it impossible to establish aprecise mathematical model. As a result, it will affect the verification of the controlalgorithms. Linear motor is an electromagnetic device which can convert electric energydirectly into linear motion, and with the advantage of high-speed, high-acceleration andperfect dynamic response, it has become a hot research topic. The inverted pendulum systemdriven by linear motor can greatly reduce the influence of the interference factors, thus makesit easy to establish a precise mathematical model, and shows superior performance. In thisdissertation, HAN’S linear motor is used to construct an inverted pendulum system. Andrelated study has been done, the main achievements are as follows:First of all, on the basis of the analysis to the PMLSM’s structure and the principle ofwork which involves in the voltage equation, the flux equation and the mechanical movementequation, the mathematical model of PMLSM is established. Furthermore, a three-closed-loopservo control strategy including position, velocity, current control is presented, which is basedon the combination of the vector control and the anti-saturation PI control algorithm.Secondly, according to the analysis and the research on the linear motor servo-control’sstructure, an entire digital servo-control system has been designed, and program has beenmade in corresponding software by C language. Combined with the hardware, the experimenthas been carried out, and the results indicate that the designed servo-control system isfeasible.Thirdly, the swing-up control and stability control algorithms of the inverted pendulumhas been studied, and linear quadratic regulator (LQR) is designed and its simulationexperiment is performed in Matlab/Simulink. The simulation results indicate that thecontroller is effective.Finally, considering the requirement of the inverted pendulum system, this thesis designthe software and the hardware of the inverted pendulum motion control board, and combinedwith the designed servo-control board which has been experimentally test, a complete inverted pendulum system has been constructed. The experiment results based on thisplatform show that the system is practicable and effective.