The Dual Mode Control Based On EFC/LQR Of First Order Parallel Rotary Double Inverted Pendulum System

This paper is aimed at first-order parallel rotary double inverted pendulum system(Rotary Parallel Double Inverted Pendulum,RPDIP)to carry out advanced control strategy and its application technology.The first-order parallel rotary double inverted pendulum control system is a multi-variable,high-order,self-instability,and nonlinear under-driven systems with strong coupling characteristics between variables.It is a new experimental platform to test the validity of advanced control theory.Therefore,the research on the control strategy and physical control technology for the first-order parallel rotary double inverted pendulum system has certain practical significance.An accurate mathematical model of the first-order parallel rotary double-inverted pendulum system was established based on the Lagrange equation of analytical mechanics,and the correctness of the established model was verified in the MATLAB/Simulink simulation environment.Under these conditions,the system will have uncontrollable problems”;according to the different regions of the motion state of the dual-pendulum control system,it is divided into two modes: “starting pendulum and stable pendulum”.For the EFC controller,a linear quadratic optimal LQR controller is designed for the stable pendulum mode,and a dual-mode switching control strategy suitable for global motion control is designed.In the MATLAB/Simulink environment,the simulation experiments are carried out to verify the designed EFC/LQR dual-mode controller can realize the swing up control,stable control and global stable control of the first-order parallel rotary double-inverted pendulum system.And for the changes of the pendulum length ratio and mass ratio,the EFC/LQR dual-mode controller has good robust performance respectively.At the same time,it is also pointed out that the EFC/LQR dual-mode control scheme has the problem of poor global robustness.Aiming at the device design of the physical platform of the first-order parallel rotary double inverted pendulum system,the mechanical body part adopts Panasonic AC servo motor as the drive motor,and the deceleration mechanism adopts 1:8 planetary reducer(gap error is less than 2 arc minutes),The electrical control part uses Siemens S7-1200 PLC as the controller,the KTP400 touch screen is used as the human-computer interaction interface,the motor driver uses Panasonic brand to match the servo motor,and the angle sensor adopts Japanese Nemicon incremental encoder with a precision of 2500 lines,and the 8-channel differential signal receiving and amplifier are used as the encoder angle signal receiving and processing module.On the established "rotary inverted pendulum system experimental platform",based on Siemens S7-1200 PLC,the EFC/LQR dual-mode stable servo control of the first-order rotary inverted pendulum physical device system is realized which means it realize automatic swing,dual-mode smooth switching,balance control,and the servo control of the system’s rotary angle at the same time.The experimental results of the simulation and the physical platform show that the EFC/LQR dual-mode controller has good performance such as fast swing and stable control accuracy within ±5°,and the system has good anti-interference performance and achieves the expected effect.