Virtual simulation model of portable inverted pendulum

As a typical unstable linear system, the inverted pendulum has the characteristics of simple structure and low cost, and has been widely used in robotics and aerospace. A modeling method based on the combination of the Matlab virtual simulation and test data is proposed, so as to solve the problem of deviation between theoretical modeling and engineering application of the portable linear inverted pendulum. The rigid body model of the inverted pendulum is obtained by connecting SolidWorks with Matlab, and the electromechanical part is added in the SimMechanics, so as to obtain the ideal model of the system at the unstable equilibrium point. The pendulum swinging are studied for the inverted pendulum on the basis of the model. The test results show that the virtual simulation model can visually display and record the changes of the system variables.