Analysis and Research of Inverted Pendulum Time-Varying Systems Based on Fuzzy Controlling Means
Xue Peng, Wei Wei · 2010
Based on the analyzing means of Lagrange Dynamics, this thesis derived the motion equation of inverted pendulum as well as the control equation of rotary-arm. After dealing with the system through approximation, the author analyzed the data and simplified energy control rule that was easy to realize was worked out. The angle of rotation, the rate of change as well as the swing trend of inverted pendulum are regarded as the input. The fuzzy decision-making controlling means is applied. Through adjusting the rotating speed, hand of rotation, angle displacement as well as the rate of change of rotation angle of the rotary-arm, the system control requirement of starting oscillation, swinging process adjustment as maintaining of stable state of inverted pendulum.