自由摆上目标动态平衡控制系统的设计

Design and implementation of control system for platform on free pendulum

摆系统因具有高阶次、不稳定、非线性和强耦合等特性而广泛用于控制理论算法的研究与验证中.为达到摆上目标的高精度平衡控制,采用意法半导体有限公司的先进单片机为控制核心,搭配步进电机及其驱动电路、倾角传感器和显示电路搭建了动态平衡控制系统.软件上对倾角传感器数据进行平滑滤波,并采用了智能模糊比例积分控制算法.最后依靠搭建的实验系统进行了重复测试实验,并通过图像传感器采集了光斑在视场内的稳定误差曲线.结果表明,在摆的周期运动过程中,摆上激光笔打出的光斑基本稳定在小幅度范围内,实现了较高精度的平衡控制.

Pendulum system is widely applied in the research and validation of the control theory algorithm for its higher-order, unstable, nonlinear and strong coupling characteristics. In order to achieve high precision balance controlling for targets, dynamic balance control system was built with the control core of the single-chip microcomputer STM32F103ZET6, stepping motor and its drive circuit, Angle sensor and display circuit. Through smoothing filtering of the angle sensor data and application of the intelligent fuzzy proportion-integral control algorithm, dynamic balance control function was achieved. At last, the experimental is done based on designed system and stabilized error of the laser spot was collected through the image sensors. The results show that in the pendulum of periodic motion process, the spot outputted from the laser pen is maintained within a small range, realizing a high precision balance control.