Under the condition of guaranteeing the inverted pendulum rod not to fall, the position of the car can be controlled.
The cascade control design method is applied to deduce the corresponding model. The design method of generalized general model controller is applied to design the inner and outer rings.
The model of the controlled object is embedded in the controller.
The idea of dominant pole is applied to select the parameters of the controller. The simulation results verify the control system. It has good performance. Inverted pendulum is a typical fast, multivariable, non-linear and absolutely unstable system.
People try to find different control methods to realize the control of inverted pendulum, so as to test or illustrate the control ability of this method for serious non-linear and absolutely unstable systems. At present, many advanced control schemes, such as optimal control, adaptive control and intelligent control, have been successfully applied to inverted pendulum platform [1]. However, few reports have shown that the position of the car can be controlled under the condition that the inverted pendulum rod does not fall.
According to the parameters of the controller and the model of the controlled object designed in the previous section, the simulation experiment is carried out in MATLAB/SIMULINK.
The simulation results are shown in Fig. 3.
Figure 3 shows that the system is stable in about 10 seconds, and the car position is stable at 0. The control effect is good.
The design method of double closed-loop control system is applied to control the first-order inverted pendulum system. Under the condition that the inverted pendulum rod does not fall, thermostatic element the position of the car can be controlled. The generalized general model controller is used to design the inner and outer loop controllers respectively.
The simulation results show that the control scheme can achieve good control effect.