The Research on Angular Momentum Conservation and Resistance in the Balance of an Upright Rod Under Computer Simulation

This paper investigates the design and implementation of an intelligent stabilization system for an upright rod based on angular momentum conservation. The system uses an ESP32 controller with FreeRTOS for multi-task scheduling and high-precision sensors, including the MPU6050 and AS5600. An improved LQR controller with Kalman filtering handles the control algorithm. The system achieves wind resistance of up to 10.96 m/s and can restore stability within 3 seconds, with a maximum deflection angle of <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$1^{\circ}$</tex>. Experimental data confirm the system's effectiveness.