摘要
设计制作单片机最小系统板、直流电机驱动电路、旋臂和摆杆位置检测电路等硬件模块,搭建了环形倒立摆实验教学平台。利用欧拉-拉格朗日法分析环形倒立摆数学模型,设计了基于LMI的滑模变结构控制器,通过Matlab仿真和实际测试,最终倒立摆系统能够在平衡位置附近稳定,即旋臂在水平转动面0°处稳定、摆杆保持垂直向上稳定。该平台应用于自动控制相关课程的实验教学中,方便高效,具有较好的实验演示效果,能够提高学生的实验积极性,增强学生的实践动手能力。
The hardware modules of the smallest SCM system board,DC motor driving circuit,rotary arm and swing rod position detection circuit,etc.,are designed and built,and the experimental teaching platform for the annular inverted pendulum is established.The Euler-Lagrange method is used to analyze the mathematical model of the annular inverted pendulum,and a sliding mode variable structure controller based on LMI is designed.Through the Matlab simulation and practical test,the final inverted pendulum system can be stable near the equilibrium position,i.e.,the swing arm is stable at 0°of the horizontal rotation surface and the swing rod is stable vertically upward.This platform is applied to the experimental teaching of automatic control related courses,which is convenient and efficient,and has good experimental demonstration effect,improving students' experimental enthusiasm and enhancing their practical ability.
出处
《实验技术与管理》
CAS
北大核心
2018年第3期66-72,共7页
Experimental Technology and Management
基金
国家自然科学基金项目(61771178)
浙江省2015年度高等教育教学改革项目(jg2015060)
关键词
环形倒立摆
实验教学平台
电机驱动电路
系统仿真
滑模变结构控制器
annular inverted pendulum
experimental teaching platform
motor driving circuit
system simulation
sliding mode variable structure controller
