Research on Control System of Rotary Inverted Pendulum Based on ARM

In this paper, control system of rotary inverted pendulum based on ARM is designed, which is composed by mechanical section and control section. The system measures signal for variation of angle of radial arm and pendulum rod and transmits such signal to ARM control panel, after which control rate can be calculated through PID control algorithm. Inversion of pendulum rod can be controlled through rotation of the radial arm on a plane driven by an electric motor, and the pendulum rod can rotate on a vertical plane. Finally, MATLAB is used to conduct simulation for three parameters including proportionality coefficient (K-P), integral coefficient (K-I) and differential coefficient (K-D), based on which ideal parameters are determined, stable control of pendulum rod inversion near equilibrium point is realized, and feasibility of control algorithm is verified.