摘要
为了满足新时期高等院校创新教学要求,设计一套基于ARM的开放式、模块化的两轴运动控制卡,介绍了正交脉冲鉴相、计数、模拟量转换、数字量接口等部分的硬件电路设计。结合一套倒立摆实验系统设计了基于单输入规则模块(SIRM)的模糊控制方法,在Matlab下对该算法进行仿真研究,并在运动控制卡中实现了该控制算法。实验结果与仿真结果相吻合,表明所设计的运动控制卡能够成功地应用于两轴运动控制中。
In order to meet the requirements of innovative teaching in colleges, a set of two-axis motion control card based on ARM, with open and, modular structure is presented. The hardware circuit design including orthogonal pulse phasing, count, analog converter and digital interface etc is introduced. An inverted pendulum experiment system is used to test the designed card. A fuzzy control method based on SIRM is used to control the inverted pendulum. The simulation research is done in the Matlab, and the control algorithm is implemented with the motion control card. The experimental and simulation results show that the motion control card can be successfully applied to the two-axis motion control.
出处
《控制工程》
CSCD
北大核心
2009年第2期243-246,250,共5页
Control Engineering of China
基金
哈尔滨市优秀学科带头人研究专项基金资助项目(200RFXXG015)
哈尔滨市青年科学研究基金资助项目(2008RFQXG065)
关键词
ARM
运动控制卡
倒立摆
模糊控制
ARM
motion control card
inverted pendulum
fuzzy control
