基于旋转倒立摆的自动控制理论实验平台设计

Design of experiment platform of automatic control theory based on the rotary inverted pendulum

研究基于旋转倒立摆的自动控制理论实验平台设计,采用光电编码器及角度传感器测量旋臂位置和摆杆角度,控制器设计控制律并转化为电压信号驱动电机转动,从而带动旋臂在水平面内旋转,实现摆杆在指定位置直立。为便于操作,采用基于串口通信的上下位机结构,使用上位机调节控制算法参数,查看输出响应曲线。该平台为控制算法的研究提供研究对象与实验系统,适合自动控制理论教学与研究。

This paper studies the design of experiment platform of automatic control theory based on the rotary inverted pendulum.The photoelectric encoder and angle sensor are used to measure the position of the rotating arm and the angle of the swing rod.The controller designs the control law and converts it into a voltage signal to drive the motor to rotate,so as to drive the rotating arm to rotate in the horizontal plane and realize the upright of the swing rod in the designated position.In order to facilitate the operation,the upper and lower computer structure based on serial communication is adopted,and the upper computer is used to adjust the control algorithm parameters and view the output response curve.This platform provides research object and experimental system for the research of control algorithms,which is suitable for the teaching and research of automatic control theory.