Modeling And Simulation Research On Rotary Inverted Pendulum Control Based On Matlab/Simulink

The classical rotary inverted pendulum system,which is a highly nonlinear,multi-variables,underactuated,unstable,strong-coupled system,and the real-time control demands high nonlinear objects.Due to the characteristics of the pendulum system is similar to industrial nonlinear system,therefore the research of inverted pendulum system not only can judge the advantages and disadvantages of various control algorithms,but also has very important engineering practice significance.This thesis begins with establishing the mathematical models of one and double rotary inverted pendulum through Lagrange equation,and then designs PID controller,pole placement controller and LQR controller to stabilize the pendulum rod,and the fuzzy and energy-based pendulum controller to swing-up the pendulum,and finishes the simulation by Matlab/Simulink.Finally the experimental system interface was designed by Matlab GUI toolbox,and from the simulation results conclude the control features of several controllers.In addition to the above several classical control algorithms,a robust control method is proposed to stabilize the pendulum rod.The controller is directly designed without linearization of the model,and the simulation result shows that this control method is fast and with good robustness.The traditional method to get the pendulum mathematical model is using the Lagrange equation,which requires the idealized physical model of the inverted pendulum and to get the final state of the system spatial equations needs to linearize the model,so the model accuracy is greatly reduced.In this paper,the physical model of the inverted pendulum is got through the 3D software and SimMechanics.It not only visualizes the simulation process in the form of 3D animation,but also proves the efficiency and accuracy of this modeling method through experiments.Through these research results we get the several controller's control features,and verify the robust control and engry swing-up control methods can work well.At the same time,finishing the model and simulation through the 3D software and SimMechanics,this modeling method greatly improves the efficiency of product development and improves the reliability and accuracy of modeling.