基于STM32和增量PID的旋转倒立摆的设计

Design of Rotary Inverted Pendulum with STM32 and Incremental PID

旋转倒立摆系统应用广泛,但是传统设计中存在成本较高、功耗较大等问题。针对该难题,提出利用32位低功耗嵌入式芯片STM32作为主控制器、以增量PID和惯性起摆为控制算法的解决思路。通过连续多次采样角度传感器WDX35D,STM32将获取的数值进行增量PID计算并产生PWM信号,使BTS7960能够快速、平滑地驱动伺服电机,实现摆杆进入稳定的倒立状态。实践表明,该倒立摆稳定、可靠、运行平滑、抗干扰能力强,具有低成本、低功耗等优点。

Rotary Inverted Pendulum（RIP） system has been widely used. However, traditional RIP is costly and with high power consumption. Therefore, a solution is proposed, which suggests the new RIP should have a 32 bit power consumption em- bedded chip STM32 as the master controller and have incremental PID and inertia swinging up as the control algorithm. After this improvement, those numerical values obtained from continuous sampling by angle transducer WDX35D are calculated by STM32 with the incremental PID, which generates the signal of PWM and drives the servo motor fastly and smoothly by using BTS7960. After that, the oscillating bar is steadily stabilized at inverted state. It has been tested that the new design of RIP are stable, reli- able, smooth and with strong anti-interference ability, low cost and low power consumption.