Research on System Identification and Servo Stability Control Method of Single Stage Rotary Inverted Pendulum
Aiming at the problem of system parameters identification and servo stability control of sin-gle stage rotary inverted pendulum,the straight pendulum model with pendulum bar natural sagging and without external forces was established.System parameters were identified based on fast Fourier transform method.The relationship between the straight and the inverted pendulum model was deduced and the inverted pendulum model was obtained.According to the obtained inverted pendulum model,a linear quadratic controller was used to control stability.The numerical simulation and the physical ex-periments were carried out.The results show that the identified system model is more accurate and ef-fective and can better follow the servo input instruction.In a word,this method can avoid measurement errors,improve accuracy and provide a reference for servo stability control.
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