Abstract
The work is designed and made as a controlled system of rotational inverted pendulum. Small direct current machine is droved by Single chip microcomputer that it controls the angle of swinging of swinging rod when the rotating arm does reciprocating rotation motion. The MC9S12CXS128 single-chip microcomputer is adopted as the master control chip of control system, the Angle of swinging rod is measured by the incremental encoder, power of the rotary arm controlled part provided by PM35S - 048 direct current machine and the motor drive module as a control system. It can realize measurement and control of the rotation angle of the rotating arm and the swinging angle of swinging rod precisely.
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