基于Arduino和Simulink的倒立摆控制器设计与实现

s a kind of experimental equipment, first-order inverted pendulum plays an important role in teaching and scientific research.Because of its nonlinear, strong coupling, multivariable and stable characteristics, inverted pendulum system has become an ideal model for testing various control theories and methods.In order to analyze the dynamic and static characteristics of the inverted pendulum system and the control algorithm, this paper completed the design of the inverted pendulum controller based on Arduino and Simulink. In this paper, a new handstand pendulum controller is built by using the single chip microcomputer system of Arduino platform. The handstand pendulum body is constructed by using the handstand pendulum table and pole of steel structure, angle sensor and driving motor equipped with Hall encoder, and the control program of handstand pendulum is designed on Matlab/Simulink platform.The softwaDesign and implementation of an Inverted pendulum controller based on Arduino and Simulinkre and hardware control system of the inverted pendulum experiment platform is reconstructed easily.Experimental results show that the inverted pendulum controller program developed in this paper can control the inverted pendulum well, and has strong universality, easy to use, good expansibility and openness.