Research On Balance Control Technology Of Inverted Pendulum Based On AUTOSAR

In the field of control,the inverted pendulum system is a typical experimental platform with important research significance.The inverted pendulum model has many applications in the actual production and life,whether it is the common balance car in life or the attitude problem of rocket booster in the launching process are similar to the inverted pendulum model,and the corresponding control theory and control method of the inverted pendulum system have broad application prospects in the fields of aviation docking,satellite flight,precision instrument processing,and missile interception control.In the field of automotive electronics software development,the AUTOSAR architecture has gradually become a standard followed by major vehicle manufacturers and automotive electronics suppliers.AUTOSAR,as an open and standard architecture for automotive electronics software development,aims to solve the exchange and update of automobile electronics system,and efficiently manage more and more complex automotive electronic software system problems.Reduce the development cost of automotive electronic software while ensuring the quality of products and services improve the development efficiency and portability of the system,which is conducive to the subsequent upgrade and update of the system.Based on the above,this paper designs the software architecture of the inverted pendulum system based on the hierarchical and modular design idea of AUTOSAR,divides it into different functional modules and software levels,and each software layer and functional module is designed in detail.At the same time,the dynamic model of inverted pendulum system is established,and the open-loop instability of the system was analyzed.Two balance control strategies were designed for the inverted pendulum system.Based on the mpc5634 series single chip microcontroller as the hardware development platform,the application layer function software is developed.The developed software is applied to the inverted pendulum system for experiments.Finally,the stable control of the inverted pendulum by the car system based on AUTOSAR architecture is realized.This paper focuses on the following aspects:1)Newton Euler method is used to model the dynamics of the inverted pendulum system.The transfer function of the system was derived,and the unit step response and unit impulse response of the system were verified.And the stability of the system is analyzed by using the root locus diagram of the system.2)The control strategy of the inverted pendulum system of the trolley is analyzed and researched.In order to achieve stable control of the inverted pendulum trolley system,two different control strategies are designed by using linear quadratic optimal control algorithm and proportional-integral-derivative algorithm.3)Based on the AUTOSAR architecture and MPC5634 series development board,the basic software layer and application software layer of the inverted pendulum system were developed,and the development of the car inverted pendulum system was implemented and applied to the real experiment platform of the inverted pendulum.At the same time,through this experimental platform,the parameters of the two control algorithms are adjusted respectively,so that the car inverted pendulum system can achieve fast and stable control in both balance control algorithms,and the response curve of variables in the control process is obtained.The inverted pendulum physical platform was built for multiple experiments to verify the feasibility of the inverted pendulum system software developed based on the AUTOSAR architecture proposed in this paper.At the same time,the effectiveness of two balance control strategies designed for the inverted pendulum system is proved.