Dynamic Model and Control for the Rotary Inverted-Pendulum

摘要

A control system model for dynamic equilibrium of the rotary inverted-pendulum with single fulcrum is presented here, based on the control pattern of the rotary arm's revolution and swing, which is with the rotary coupling-construction driven by a DC servo motor. Movable equation of the inverted pendulum and control equation of the rotary arm are derived also according to the dynamics analysis method of Lagrange. With feasible approximation for the system, a practical energy control rules is deduced. Based on the control method of fuzzy decision, with the inverted angle, the changeable angle rate and trend of swing are taken as the input vectors. By adjusting velocity, angle distance and changeable angle changing rate, the demands such as rotary inverted-pendulum, start vibration, adjustable swing process and equilibrium state maintaining are successfully achieved. The control method proved to be feasible by the experiments.