.College of Chemistry and Life Sciences; 2. College of Intemet of Things; 3. College of Telecommunications & InformationEngineering;4.College of Science, Nanjing University of Posts and Telecommunications, Nanjing 210023, China
Abstract: This study combines inverted-pendulum dynamic modeling with integral state-feedback control to
design a wind-resistant rod system based on reaction-wheel torque compensation, achieving dynamic stability
under external wind forces. The system consists of three reaction wheels and a controlled rod. An MPU6050
attitude sensor is used to provide real-time feedback on the system posture,and the control input is calculated
by the integral state-feedback controller. The reaction-wheel speeds are then regulated through SimpleFOC to
generate compensation torque that counteracts the external wind torque. To quantify system performance, an
inverted-pendulum mathematical model was established, and the dynamic response of the system was evaluated
experimentally under different wind-speed conditions. The experimental results show that the system can
maintain stability within a wind-speed range of 0~4 m/s, with a maximum self-stabilizing wind speed of 5.5 m
s and an average self-stabilization time of less than 5 s. Under windless, level-one wind(2 m/s),and level-two
wind(4 m/s) conditions, the steady-state tilt angles of the rod are 0.005,0.025, and 0.057 rad, respectively,
while the maximum tilt angles are 0.095,0. 120,and 0.140 rad, respectively. The peak speeds of the reaction
wheels are 195, 215, and 278 rad/s, respectively. Simulated convective wind and randomly directed wind
experiments further verify the robustness of the system under multi-directional wind disturbances.Based on the
steady-state tilt-angle data, the sample variance and sample standard deviation of the system steady-state till
angle were caleulated as 0. 000 558 rad2 and 0. 023 63 rad, respectively. This study provides an intuitive
experimental platform for teaching angular momentum exchange and reaction wheel control, and offers a
reference for teaching demonstrations and basic experimental analysis of dynamic stabilization control in
unstable systems.
