基于PID双闭环的旋转倒立摆控制系统

Rotary Inverted Pendulum Control System Based on PID Double Closed Loop

针对倒立摆多变量、非线性和强耦合性等特性,设计并制作了基于PID双闭环的旋转倒立摆控制系统。以STM32控制器为主控核心,光电编码器为传感器,搭建了系统的硬件部分。软件部分主要包括起摆算法和稳摆算法,起摆算法基于能量补偿,稳摆算法采用PID双闭环。在系统实物上的实验结果验证了系统控制方案的可行性和良好的控制性能。

According to the characteristics of inverted pendulum about multivariable,nonlinear and strong coupling,the control system based on PID double closed loop is designed and fabricated.The STM32 controller is taken as the core and the photoelectric encoder is taken as the sensor to constitute the hardware of the system.The software part mainly includes the swing-up algorithm and the balance algorithm,the swing-up is based on the energy compensation,and the balance algorithm uses PID double closed loop.The feasibility and the control performance of the system are verified by the experimental results in the physical system.