摘要
针对简易旋转倒立摆的控制要求,以单片机MC9S12XS128为控制核心,通过安装在摆杆上的光电编码器测得摆杆的摆角,安装在旋转臂上的光电编码器测得旋转臂的旋转角,实现了双闭环结构控制.利用Lagrange方程推导了系统数学模型,并设计了最优LQR控制器.仿真和测试结果表明,该设计能够初步地实现简易旋转倒立摆的控制功能.
A double closed-loop control structure is designed in view of the control requirement of the simple rotary inverted pendulum.MCU MC9S12XS128 is selected as control chip and two photoelectric encoders are installed on both the rod of pendulum and the rotary arm,which are used to measure the swinging angle of the rod of pendulum and the rotating angle of the rotary arm,respectively.The mathematical model of the system is deduced by using Lagrange equation and the optimal LQR controller is designed.The simulation and the test results show that the design can preliminarily achieve the control function of the simple rotary inverted pendulum.
出处
《兰州交通大学学报》
CAS
2015年第3期87-90,105,共5页
Journal of Lanzhou Jiaotong University
基金
兰州交通大学青年科学基金(2012035)
