Control Wheel Rotation Inverted Pendulum Control Based on Unscented Kalman Filter

The reaction wheel rotates the inverted pendulum as a nonlinear, strongly coupled, unstable system. Conventional PID control does not maintain the balance of the reaction wheel inverted pendulum for a long time. The system adopts PD control and introduces motor speed feedback, which solves the problem that the reaction wheel is continuously accelerating and the speed is saturated under steady state conditions, and the maintenance of the motor speed is kept in a small interval while maintaining the balance of the reaction wheel., so that the motor has enough acceleration to generate torque. In terms of data processing, the unscented Kalman filter is used instead of the traditional ordinary Kalman filter to reduce the sensor data with low delay and noise interference.