摘要
结合创新课程需要,以提高自动化类学生的理论结合实践能力为出发点,基于STM32设计并制作了一阶旋转倒立摆实验装置。该装置采用并级双闭环PID控制策略,一个控制旋转臂角度,一个控制摆杆倒立角度,实现了对一阶旋转倒立摆的起摆和稳摆控制(起摆时间为3 s,受扰动后的调节时间为0.4 s),并给出了一阶旋转倒立摆装置的总体设计方案、硬件电路和软件设计过程。实践表明,该装置搭建方便,易于理解和掌握知识点,适合于自动化类学生学习使用,可以有效调动学生的学习积极性,培养其深入思考能力,激发其创新思维。
Combining the needs of innovative courses,and taking the improvement of the combination of theory and practice of automation students as the starting point,a first-order rotating inverted pendulum experimental device is designed and made based on STM32.The device adopts parallel-stage double closed-loop PID control strategy,one to control the cantilever angle and the other to control the inverted angle of the pendulum,which realizes the swing and steady control of the first-order rotating inverted pendulum.The experimental results show that the swing up time of the device is 3s,and the adjustment time after disturbance is 0.4s.The overall design scheme,hardware circuit and software design process of the first-order rotating inverted pendulum are given.Practice has shown that the platform is easy to build,easy to understand and master knowledge points,and is suitable for automation students to learn.It can effectively mobilize students’learning enthusiasm,cultivate their in-depth thinking ability,and stimulate students’innovative thinking.
作者
杨秀丽
齐龙
邢航
魏玉
魏德仙
Yang Xiuli;Qi Long;Xing Hang;Wei Yu;Wei Dexian(College of Engineering,South China Agriculture University,Guangzhou,510640,China)
出处
《中国现代教育装备》
2023年第5期21-24,共4页
China Modern Educational Equipment
基金
华南农业大学质量工程项目“线上线下混合式课程《自动控制原理》”(编号:华南农教[2020]32号)
华南农业大学教学改革项目“‘互联网+教育’环境下控制工程基础课程混合教学改革与实践”(编号:JG20072)
教育部高等教育司2019年第二批产学合作协同育人项目“新工科背景下基于OBE模式的传感器课程教学改革探索”(编号:201902118019)。
