Design and Research of Double Closed-Loop Control Strategy for Inverted Pendulum System

摘要

The Newton-Euler method was used to derive the dynamic equation of the linear inverted pendulum, and obtained the mathematical model of the linear inverted pendulum after linearization. Based on this model, a double closed-loop control scheme was proposed. The inner loop regulated the angle of pendulum by using root locus control, while the outer loop controlled the position of the car by using fuzzy logic control method. With the help of the control scheme, it was easier realize the control of the pendulum angle and cart position synchronously, in addition, reduced difficulty of the controller design. Finally, in the programming environment of Mat lab, the computer simulation and real-time control was finished, and the controlled system had good performance. The results of simulation and real-time control showed the correctness of modelling and the validity of control scheme.