• DocumentCode
    3758552
  • Title

    The Design and Realization of a Rotary Inverted Pendulum Based on STM32

  • Author

    Gou Yuntao;Du Gang;Wang Ning;Zhang Dongxia

  • Author_Institution
    Sch. of Inf. Eng., China Univ. of Geosci., Beijing, China
  • fYear
    2015
  • Firstpage
    185
  • Lastpage
    188
  • Abstract
    In this paper, a single rotary inverted pendulum system is set up by using rotary encoder, servo motor and some mechanical structures. Lagrange equation is used to build up the mathematic model of single rotary inverted pendulum which is optimized by linear quadratic regulator (LQR) and fuzzy control method. Experiments are taken to verify this control strategy through Matlab simulation. The system is realized on STM32 development board.
  • Keywords
    "Mathematical model","Stability analysis","Kinetic energy","Process control","Potential energy","Optimal control","Fuzzy control"
  • Publisher
    ieee
  • Conference_Titel
    Identification, Information, and Knowledge in the Internet of Things (IIKI), 2015 International Conference on
  • Type

    conf

  • DOI
    10.1109/IIKI.2015.46
  • Filename
    7428350
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3758552