Design and Application of Hydraulic Inverted Pendulum

This paper briefly describes the designing process of a hydraulic inverted pendulum including hardware and software design. First, the mechanical structure, including the components of the platform will be introduced. Second, the electrical system including controllers for receiving signals from sensors which measure the variables important for controlling inverted pendulum is about to be shown. Afterwards, the paper will present a mathematical model of the whole platform, then shows up an open loop simulation established by AMESim and Simulink in order to analysis its dynamic characteristic. By comparing the simulation result and reality, the rationality of mathematical model is finally verified.