Research on Modeling and Simulation of First-Order Inverted Pendulum based on MATLAB

Dongcai Xie ； Feng Xiao

《International Core Journal of Engineering》 8卷8期 (2022/08) Pp. 778-787

https://doi.org/10.6919/ICJE.202208_8(8).0106

摘要

The first-order linear inverted pendulum system is a nonlinear and unstable system, and the starting of the aircraft, the flying in the air and the uprightness of the robot all put forward urgent requirements for the research of the inverted pendulum. In order to study the start-up and steady-swing problems of the first-order linear inverted pendulum, the inverted pendulum is mathematically modeled, and a start-up control algorithm based on energy feedback and a linear quadratic optimal stabilization control algorithm are designed. SIMULINK is used to control the inverted pendulum Carry out 3D modeling, and finally realize the automatic starting and stable swing of the inverted pendulum. After the system simulation test, the pendulum rod swings twice to achieve the start-up and swing, and the start-up and stable pendulum are completed within 6 seconds, and the optimized start-up and swing method saves time, reduces the number of swings, and achieves the expected performance. Realization plays an irreplaceable role in the research of practical teaching and control theory.

關鍵字

Inverted Pendulum ； Mathematical Modeling ； Swing and Steady ； SIMULINK Simulation

參考文獻

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