摘要
选取旋转自由摆作为研究对象,建立了系统的数学模型,分析并验证了系统的稳定性和可控可观性.在此基础上,提出了一种基于STM32的实验硬件平台,该平台采用步进电机驱动自由摆的旋转,利用光电编码器测量摆杆的旋转角度,通过PID控制算法实现自由摆的运动控制,对自由摆的起摆、摆起稳定、镇定进行了分析.实验表明,本文采用的旋转自由摆控制方法,使自由摆运行稳定,具有一定的抗干扰能力.
Taking the rotating free pendulum as the research object, the systematic mathematical model is estab-lished in this paper by analyzing and validating the system stability and controllability and observability. On thisbasis, the paper proposes an experimental hardware platform based on STM32. The platform adopts a stepper mo-tor to drive the free pendulum. The use of photoelectric encoder measures the rotation angle of the swinging rod.The PID control algorithm is used to realize the motion control of the free pendulum. Besides, the swing of thefree pendulum, the swing stability and stabilization are analyzed. The experimental results show that the rotatingfree pendulum control system designed in this paper runs stably and has a certain anti-interference ability.
出处
《常熟理工学院学报》
2017年第2期68-73,共6页
Journal of Changshu Institute of Technology
基金
苏州市科技计划项目"基于脑机接口技术的康复机器人研究"(SYG201504)
