Research On Automatic Swing-up And Stabilization Control Algorithms Of Inverted Pendulum System Based On Linear Motor

The inverted pendulum platform is known as the "pearl" in the field of control.It is a classical experimental verification platform.It can be used to validate various advanced algorithms in the process of studying control theory and algorithms,thus helping theoretical research to practical application,such as aerospace,humanoid robots and other industrial fields.It has strong research and practical significance.At present,inverted pendulum model has been widely used,such as satellite launch attitude adjustment,electric self-balancing vehicle and so on.The traditional inverted pendulum is driven by rotating motor,which has the disadvantages of large vibration and poor accuracy.The permanent magnet synchronous linear motor(PMSLM)is used to drive the inverted pendulum,which eliminates the complex transmission mechanism and greatly reduces the error.The single and double inverted pendulum platforms,including mechanical structure,hardware structure,software resources and user interface,are built to form an advanced experimental platform for the research of inverted pendulum stabilization and automatic swing-up control algorithm.Aiming at the problem of dynamic modeling,the vector control model of permanent magnet synchronous linear motor is established firstly,then the mathematical models of the single and double inverted pendulum system are built with Lagrange method,and the stability,observability and controllability of the system are analyzed.To stabilize the pendulum,the advantages and disadvantages of sliding mode variable structure control and robust H-infinity control algorithm are analyzed.A robust H-infinity control algorithm based on sliding mode variable structure(SMHC)is proposed.The optimal design of sliding mode matrix P and state feedback matrix K is carried out with linear matrix inequality(LMI)method.Aiming at the swing-up problem,analyze strengths and weaknesses of the Energybased algorithm and traditional Bang-Bang control algorithm,and an energy constraint based control algorithm(ECBC)is proposed.Finally,according to the proposed algorithm,the tracking control simulation and experiment of linear motor,the stabilization control simulation and experiment of the single inverted pendulum and the double inverted pendulum,and the automatic swing-up experiment of the single inverted pendulum are carried out respectively,which verify the feasibility and robustness of the algorithm.