Double Closed-loop Fuzzy Control and VR Simulation of Single Inverted Pendulum

In this paper, the balance control of a single inverted pendulum is studied. Firstly, the mathematical model of the inverted pendulum system is established by using Newtonian mechanics method, and two parallel fuzzy controllers are used to control the position of the car and the angle of the pole respectively, so that the inverted pendulum system can reach a balanced position as soon as possible. Then the control effect of the controller is verified by SIUMLINK simulation and compared with the PID controller. Finally, the 3D model was established by V-Realm Builder and co-simulated with SIMULINK. The results show that the fuzzy controller designed in this paper has a good control effect on the inverted pendulum.