Realization of close coupling plane double inverted pendulum based on digital motion technology

Inverted pendulum system is a typical close coupling, non-linear system with high-rank, multi-variable and serious instability. Aiming at the control problem of Inverted pendulum, the conventional operators have PID operator, pole disposition operator and optimal control operator and so on, most of which are aimed at the single linear or single plane inverted pendulum. Taking into account the control law of the car’s displacement, speed, angle, angular-rate and angular acceleration of rod 1 and rod 2 under the input electric voltage, these traditional operators such as LQR (linear quadratic regulator) have an effect of better stability, but sacrifice the robust and transient performance. Here in view of uncertain factors in pendulum systems, authors design an intelligent controller, i.e. the robust LQR controller for plane two rods inverted pendulum based on the robust optimal control with self-adaptive performance in order to improve the transient state and robustness of the system, then simulate the pendulum system by Matlab. Thus we can get the contrasted response curves of the angle of two rods and car situation according to the two designed methods to compare their advantages and disadvantages. Finally BC 3.1 is adopted to write the digital motion control program and realize the real time control and material object control of the plane two rods inverted pendulum.