Research on Position Servo PID Control for the 3D Rigid Pendulum

3D rigid pendulum is a typical system used to study complex dynamics and control system. Driving the permanent magnet synchronous motor (PMSM) of 3D rigid pendulum generate control torque, reducing posture error and reaching posture stable at the specified position. In this paper, the mathematical model of the 3D rigid pendulum is constructed by Matlab. Based on 3D rigid pendulum experiment platform, the PID strategy is used for the output torque of PMSM and the posture of 3D rigid pendulum is got. The results of simulation show that the PID control strategy can not only meet the dynamic characteristics of system, but the effectiveness of the control strategy for 3D rigid pendulum is verfied.