The Development Of An Inverted Pendulum System Based On The Effect Of The Gyroscopic Precession

An inverted pendulum system is a kind of modeling system put forward for theneed of research. The results of the inverted pendulum control research have beenwidely applied to other fields of natural unstable system. This paper studied severalunicycle lateral equilibration control devices. Among them, the device based onmass was inefficient and would bring system fluctuations. Meanwhile the sidebalance device based on swing rotor could not realize stable system balance flexibly.And the side balance device based on vertical rotor required high performance ofdrive motor and could lead to high energy consumption. Considering all theproblems mentioned above, this paper referred to unicycle balancing mechanismbased on gyro and present a kind of device based on gyro precession effect. Then aninverted pendulum system based on gyro precession effect had been designed andits stable equilibrium ability had been studied meanwhile.In this paper, the inverted pendulum system based on gyro precession effectconsist of four parts: the outside bracket of the gyro, the inside bracket of the gyro,the gyro rotor and bottom wheel on the structure. The gyro rotor was driven bydisc-brushless motor. The gyroscope driven by DC motor was made up of insidebracket of the gyro and the gyro rotor, which provided precession angular velocityfor the gyro rotor. The core part of the control system was the controller based onSTM32F103C8T6, which directly controlled the motor drivers, informationacquisition of the sensor MPU6050and the data communication module, etc.In this paper, a kind of PID control method based on system dynamics wasproposed which could realize stable equilibrium of inverted pendulum. The stabilityand convergence of control system was verified through Lyapunov stability analysis.To be followed was three kinds of simulation for the inverted pendulum systembased on gyro precession effect, which were respectively the simulation based onthe system transfer function in Simulink, the simulation based on programming inMatlab and the co-simulation between Adams and Matlab.The simulation and experiment verified the feasibility of PID algorithm and theinverted pendulum system’s ability for stable equilibrium. At the same time, theinitial values of PID parameters were obtained in practical experiment. Then asystem parameter real-time monitoring interface was made by GUI in Matlab.Through the response curve of system parameters which was observed from theinterface when debugging PID parameters, complete the inverted pendulum stableequilibrium experiment.