基于单片机的旋转倒立摆控制系统研发

Research and Development of Rotary Inverted Pendulum Control System Based on Single Chip Microcomputer

介绍了一阶旋转倒立摆系统的硬件架构、驱动电路、主控制芯片、算法等组成元素.针对倒立摆系统的起摆与稳摆问题,利用Lagrange方程建立了单摆与倒立摆的完整数学模型.采用正反馈控制算法对单摆起摆进行控制,以及双PD算法对倒立摆进行稳摆控制.同时下位机可以调节PD参数,通过OLED显示屏实时显示变量信息,具有较好的人机界面.

This paper introduces the hardware architecture, driving circuit, main control chip, algorithm and other components of the first order rotating inverted pendulum system. To solve the problem of swinging up and stabilization in an inverted pendulum system, the complete mathematical model of single pendulum and inverted pendulum is established by Lagrange equation. The single pendulum is controlled by the positive feedback control algorithm, and the inverted pendulum is controlled by the double PD algorithm. At the same time, the lower computer can adjust PD parameters and display variable information in real time through the OLED display, which has a good man-machine interface.