HUMAN-IMITATING INTELLIGENT CONTROL AND TRIPLE INVERTED-PENDULUM

A 'Human-Imitating Intelligent Control Theory' with 'generalized reduction' and 'Human Imitating' concepts as its kernel is proposed. And a world puzzlein the control circles is solved successfully based on this theory. The puzzle is thewell-known 'triple inverted pendulum control' using a SINGLE motor. A human-imitating intelligent technique to control inverted pendulum is here described. The success. ful experimental results show that our control objective can be achieved without a precise mathematical model of the plant. Finally, general principles of designing complexautomatic control systems based on the human-imitating intelligent control theory areconcluded.

Performance Study of PID Controller and LQR Technique for Inverted Pendulum

The inverted pendulum is a classic problem in dynamics and control theory and is widely used as a benchmark for testing control algorithms. It is unstable without control. The process is non linear and unstable with one input signal and several output signals. It is hence obvious that feedback of the state of the pendulum is needed to stabilize the pendulum. The aim of the study is to stabilize the pendulum such that the position of the carriage on the track is controlled quickly and accurately. The problem involves an arm, able to move horizontally in angular motion, and a pendulum, hinged to the arm at the bottom of its length such that the pendulum can move in the same plane as the arm. The conventional PID controller can be used for virtually any process condition. This makes elimination the offset of the proportional mode possible and still provides fast response. In this paper, we have modelled the system and studied conventional controller and LQR controller. It is observed that the LQR method works better compared to conventional controller.

Novel active fault-tolerant control scheme and its application to a double inverted pendulum system

On the basis of the gain-scheduled H∞ design strategy, a novel active fault-tolerant control scheme is proposed. Under the assumption that the effects of faults on the state-space matrices of systems can be of affine parameter dependence, a reconfigurable robust H∞ linear parameter varying controller is developed. The designed controller is a function of the fault effect factors that can be derived online by using a well-trained neural network. To demonstrate the effectiveness of the proposed method, a double inverted pendulum system, with a fault in the motor tachometer loop, is considered.

Simulation of a Triple Inverted Pendulum Based on Fuzzy Control

The inverted pendulum is a classic problem in dynamics and control theory and is widely used as a benchmark for testing control algorithms. This paper studies the use of fuzzy control method to study the stability control problem of a triple inverted pendulum system. By the linear model of the system, the feedback weight matrix of the LQR optimal control and the feedback parameters of the linear optimal control are designed to determine the parameters of the fuzzy controller. The simulation results show that the proposed method can achieve the stability control of the three stage inverted pendulum, and has good dynamic performance with simple parameter selection.

Using Adaptive Gain Scheduling LQR Method Control of Arm Driven Inverted Pendulum System Based on PIC18F4431

The arm driven inverted pendulum system is a highly nonlinear model,multivariable and absolutely unstable dynamic system so it is very difficult to obtain exact mathematical model and balance the inverted pendulum with variable position of the arm.To solve this problem,this paper presents a mathematical model for arm driven inverted pendulum in mid-position configuration and an adaptive gain scheduling linear quadratic regulator control method for the stabilizing the inverted pendulum.The proposed controllers for arm driven inverted pendulum are simulated using MATLAB-SIMULINK and implemented on an experiment system using PIC 18F4431 microcontroller.The result of experiment system shows the control performance to be very good in a wide range stabilization of the arm position.

Stability Analysis of a Neurocontroller with Kalman Estimator for the Inverted Pendulum Case

In this paper, a practical analysis of stability by simulation for the effect of incorporating a Kalman estimator in the control loop of the inverted pendulum with a neurocontroller is presented. The neurocontroller is calculated by approximate optimal control, without considering the Kalman estimator in the loop following the Theorem of the separation. The results are compared with a time-varying linear controller, which in noiseless conditions in the state or in the measurement has an acceptable performance, but when it is under noise conditions its operation closes into a state space range more limited than the one proposed here.

Intelligent Control on Three-Stage Inverted Pendulums

In this paper, a new intelligent control method is introduced, which combines stipulations, optimal control method with knowledge based control. Using nonlinear programming method and expert experience for the complicated nonlinear object, the good control result can be achieved. The effect of this method is shown by a simulation of three stage inverted pendulums.

基于LQR对直线倒立摆的稳摆控制研究及实现

针对倒立摆的稳摆控制问题,研究设计了一个LQR控制器。首先,考虑摆杆摆动的阻力矩,采用牛顿力学分析方法推导出直线倒立摆的数学模型,建立了其线性状态空间模型,并分析了系统的稳定性、能控性与能观性。通过采用仿真试凑确定加权矩阵Q、R,得到状态反馈增益矩阵K,完成LQR控制器的设计。之后,搭建了以开放式运动控制器为核心的倒立摆实验平台,在计算机上开发了实时人机交互程序,在运动控制器里编写了倒立摆控制算法。最后,进行了仿真与实测实验,验证了所设计的LQR控制器的有效性和可行性。

Open-plus-closed-loop control for chaotic motion of 3D rigid pendulum

An open-plus-closed-loop （OPCL） control problem for the chaotic motion of a 3D rigid pendulum subjected to a constant gravitationM force is studied. The 3D rigid pendulum is assumed to be consist of a rigid body supported by a fixed and frictionless pivot with three rotational degrees. In order to avoid the singular phenomenon of Euler＇s angular velocity equation, the quaternion kinematic equation is used to describe the motion of the 3D rigid pendulum. An OPCL controller for chaotic motion of a 3D rigid pendulum at equilibrium position is designed. This OPCL controller contains two parts： the open-loop part to construct an ideal trajectory and the closed-loop part to stabilize the 3D rigid pendulum. Simulation results show that the controller is effective and efficient.

基于遗传模糊PID算法的倒立摆稳摆抑噪抗扰实验与分析

倒立摆稳摆控制原理应用的实际工程需求牵引,使倒立摆成为检验各类控制算法的理想替代实验研究平台。因此,将倒立摆摆杆的姿态稳定控制和抑噪抗扰作为研究内容,以理论分析、编程实现、仿真实验和实物实验验证作为研究手段,聚焦控制器设计的优化。首先,引入模糊控制对PID参数调节进行优化,改固定参数调节为在线参数调节,旨在提高系统的鲁棒性与抗扰性;然后,运用遗传算法的量化因子和比例因子完成调节参数的在线寻优,通过设计适应度函数和选择算子,经过选择、交叉、变异不断演化迭代,最终获取最佳适应度个体、找到最优解,通过仿真验证遗传模糊PID算法突出的抑噪抗扰优势;最后,基于该控制策略进行倒立摆实物实验,验证了其指令跟踪有效性的结论。该研究表明:遗传模糊PID算法具有良好的指令跟踪和抑噪抗扰性能,具有一定的工程应用价值。

回旋式倒立摆的H∞控制

倒立摆系统具有多变量、非线性、强耦合和不确定的特点,常被用来验证控制算法的优劣性。H∞在干扰抑制和鲁棒性上均有较为突出的表现。在对倒立摆控制研究情况和H∞控制理论发展情况进行简单介绍后,围绕一阶回旋式倒立摆的H∞控制进行研究。首先,基于拉格朗日方程对一阶倒立摆进行动力学分析,并近似地得到平衡点附近的线性方程;对倒立摆系统进行分析,得到倒立摆系统是能观能控系统、但平衡点不稳定的结论。其次,简单介绍基于里卡蒂方程的H∞控制器求解方法,并证明该控制器能够保证系统的稳定性。最后,仿真确定加权矩阵各元素和H∞性能指标的大小对系统性能的影响和对电机扭矩的要求,并最终确定一组相对合适的参数进行控制器设计。

模糊PID控制在倒立摆稳摆中的噪声抑制分析

针对普通PID控制在倒立摆稳摆中不能有效抑制干扰噪声的问题,通过模糊控制算法对PID参量整定进行在线实时调整。在完成模糊PID控制器的设计应用后对倒立稳摆中的噪声抑制效果进行分析,并对影响控制效果的隶属函数选取进行探讨。结果表明:模糊PID参数整定能起到噪声抑制效果,且模糊算法使用方便,适应性强。

高精度工具磨床摆轴模糊自整定控制方法研究

针对精加工刀具刃磨过程所需工具磨床摆轴回转运动的高精度要求,设计了新型的高精度工具磨床摆轴及其控制系统。首先,根据已设计的摆轴机械结构建立系统数学模型;其次,为了满足工程中不同刃磨需求下摆轴回转运动的平稳性要求,解决常规PI控制无法实现此类时变系统回转速度精准控制的问题,引入了模糊控制策略对PI控制参数进行整定;最后,通过MATLAB/Simulink模块对摆轴系统进行了仿真验证。结果表明,采用模糊PI控制的摆轴系统速度跟随效果好,超调量低于1%,且具有良好的鲁棒性,能满足工程中对高精度工具磨床摆轴运动控制精度的要求。

带输入饱和的双摆桥式起重机神经网络滑模控制

针对现代工业中输入饱和受限的双摆桥式起重机防摇摆控制问题,设计了一种基于神经网络的非奇异终端滑模控制器。首先,分析起重机的非线性动力学系统,并引入抗饱和模块将系统所需的控制力限制在驱动电机能提供的最大驱动力内;然后,采用部分状态信息反馈控制设计控制器,该控制器只需起重机小车位置、速度的反馈信息,无须实时测量吊重和摆角;之后,利用所提控制器跟踪经过规划的S形平滑函数,并用神经网络逼近起重机系统中复杂未知的非线性函数部分;最后,通过李雅普诺夫稳定性理论对系统状态的稳定性进行分析。仿真结果表明,所提控制器能在保证起重机小车准确定位的同时,有效抑制吊钩和重物的残余摆动,并且对外界干扰具有较强的鲁棒性。

基于ESP32的无线平衡小车的设计

研究采用ESP32国产单片机模组作为主控,性价比高的电机驱动芯片DRV8833以及MPU6050传感器等作为硬件基础。基于PID控制模型算法以及倒立摆模型设计一款体积小巧集成度高、价格低廉的双轮无线平衡小车。通过实验证明,本平衡车操作简单,性能优良,满足运动可控和平衡稳定的需求。

基于MATLAB的单摆系统分析及PID仿真设计

对单摆系统的稳定性及对各种阻尼状态的图像进行对比分析,利用MATLAB中的Simulink功能来对单摆系统进行PID的仿真,探究阻尼对单摆系统的影响并通过调整参数消除误差,使系统达到理想状态.

单级旋转倒立摆系统辨识与随动稳定控制方法研究

针对单级旋转倒立摆系统参数辨识和随动稳定控制问题,首先建立倒立摆在不受外力控制,摆杆自然下垂的顺摆模型,基于顺摆模型采用快速傅里叶变换方法对系统参数进行辨识;然后推导顺摆模型与倒摆模型之间的关系,进一步得到倒立摆的倒摆模型;根据辨识出的倒摆模型,采用线性二次型控制器对其进行稳定控制,并进行了数值仿真与实物实验验证。研究结果表明,通过辨识得到的系统模型更加精确,对比直接测量参数得到的系统模型,控制效果更好,且能对随动输入指令进行更优的跟随。该方法可以有效避免量测误差,提高模型的准确性,为火炮随动稳定控制提供参考。

桥式起重机分布式质量吊重系统双摆滑模控制

随着吊装作业的多元化发展,起重机吊装对象也从传统的质点式吊重向分布式质量吊重方向发展。针对桥式起重机在吊装分布式质量吊重时吊重的大摆角抑制和小车定位控制问题,提出了两种基于滑模控制理论的、用于吊重消摆和小车快速定位的方法。首先,综合考虑了桥式起重机吊装对象的结构特征、小车电机的驱动特性、摩擦阻力以及环境中的随机扰动对吊装作业的影响,建立了桥式起重机分布式质量吊重系统的非线性双摆动力学模型;然后,设计了桥式起重机分布式质量吊重系统的非线性双摆动力学普通滑模控制器(OSMC)和分层滑模控制器(HSMC),采用Lyapunov函数和Barbalat引理证明了闭环系统的稳定性;最后,利用数值仿真研究了OSMC和HSMC在分布式质量吊重减摆控制方面的性能差异。仿真及研究结果表明:与OSMC相比,采用HSMC不仅可以在12 s内实现小车精确定位目的,而且可以实现对分布式质量吊重在5°~9°摆动范围下的快速抑制目的,完成了对系统状态变量的有效控制;同时,对比结果表明HSMC对起重机系统内部和外部扰动变化有很强的鲁棒性和抗干扰性。

基于滚球倒立摆模型对新型自平衡车载人研究

针对自平衡车制动性能差、抗干扰能力弱等问题,设计了一种新型自平衡车,利用滚球倒立摆模型研究新型自平衡车载人运动过程。构建动力学模型,基于PID控制方法论证了设计方案的可行性;基于自抗扰控制技术改进控制系统,使用Simulink进行仿真并与实验数据对比分析。结果表明,新型自平衡车在较大加速度(15 m/s^(2))时仍能保持稳定,动态品质较高。

悬吊多质量摆体系力学机理及减振性能试验研究

传统悬吊质量摆有悬吊单摆、串联式悬吊多摆和并联式悬吊多摆,这几种类型摆构造简单、机理明确,但调谐频带较窄,应用在低频率超高层结构下摆长过长、高频率高层结构下摆长过短,限制其在实际工程中的应用。为此,提出装有弹簧的串、并联式悬吊多摆结构,建立装有串、并联式悬吊多摆的结构体系动力学方程。为研究这两类悬吊摆的减振性能,通过数值模拟对比分析传统悬吊质量摆与装有弹簧的串、并联悬吊摆对受控结构的减振效果,并对受控结构与非受控结构进行一系列振动台试验,验证悬吊单摆、悬吊串、并联式无弹簧双摆、悬吊串、并联式弹簧双摆在传统地震动下以及四类场地地震动作用下对被控结构减振控制的有效性。数值模拟与振动台试验结果均表明,装有弹簧的串联式悬吊多摆减振效果最优,其具有增大调谐频带、实现多阶振型控制、灵活调节摆长的优点,适用于工程实际中。