高精度风力摆控制系统设计

Design of High Accuracy Pneumatic Pendulum Control System

本系统设计制作一套由轴流风机为动力源的单片机精准控制系统。系统采用MC9S12XS128微控制器作为主控芯片,选用MPU6050六轴运动传感器及WDD35精密导电塑料电位器作为摆杆的角度检测模块,并采用四个空心杯电机作为系统的执行机构。该系统采用PID控制算法,控制摆杆做摆动方向和摆动幅度均可设定的平面单摆运动及摆动半径可设定的圆锥摆运动。实验结果表明,该风力摆控制系统摆动方向角度误差<3°,摆动幅度误差<5 mm,圆锥摆圆度误差<5 mm。

The system is designed to produce a set of precision control system of the single chip microcomputer as power source, using MC9S12XS28 microcontroller as the main control chip, choose MPU6050 six -axis motion sensor and WDD35 precision conductive plastic potentiometer for the pendulum angle detection modules, and uses four coreless motors as the actuatorof the system, designed and implemented this pneumatic pendulum control system. The system uses PID control algorithm, can control the pendulum does pendulum movement, which both swing direction and swing amplitude can be set and does conical pendulum movement, which swing radius can be set. Experimental results showed that the deviation of swing direction angleof the system is less than 3°, deviation of swing amplitude length is less than 5mm and deviation of conical pendulum roundness is less than 5mm.