基于52单片机的旋转倒立摆的研究和设计

Study and Design of the Rotational Inverted Pendulum Based on 52 Microcontroller

提出了基于52单片机和PID控制算法采用角位移传感器控制直流力矩电机的旋转倒立摆的设计方案。实验表明该倒立摆系统稳定、结构简单、成本低、控制容易,实现摆角超过-60度到60度及整个圆周运动,当摆杆处于倒立姿态时施加外力干扰,能在5s内恢复倒立,并且保持倒立时间超过10s。

We put forward the design scheme of rotary inverted pendulum, which uses the angular displacement sensor controlling DC torque motor based on 52 MCU and PID control algorithm. The experimental results show that the inverted pendulum has some advantages, such as system stability, simple structure, low cost and easy controlling. The swing angle range is from - 60 to 60 degrees and the system realizes the circular motion. When the swing bar was given an external force disturbance in the inverted situation, it can restore the inversion in 5 seconds, and keep the inverted time beyond 10 seconds.