摘要
本系统选用Freescale公司的mc9s12xs128单片机为主控制器,控制采用角度PD(比例/微分)算法,实现摆杆在直立的过程中电机对旋转臂的控制。其主要由倒立摆平台、数据采集、主控板、驱动系统、电源系统五个功能模块组成。技术关键在于摆杆位置测量及电机调整旋转臂的位置。采用陀螺仪-加速度计传感器实现摆杆位置的测量,具有减速齿轮组的减速直流电机实现对旋转臂的控制。为提高系统控制精度及抗干扰性能,数据采集及处理中应用现场零点采集及互补滤波等处理技术。摆杆能够从自然下垂状态完成圆周运动并自主保持倒立,在外力干扰下迅速恢复倒立。性能良好,具备实际应用价值。
The system selected Freescale's MCU-based controller mc9s12xs128,control used angle PD(proportional/differential)algorithm,to achieve control of the pendulum in the upright on the motor during the rotation of the arm.The system was consist of five functional modules,including the inverted pendulum platform,data acquisition,control board,drive system,power supply system.The key technology lied in the position measurement of the swing rod and the position of the motor to adjust the rotating arm.The position of the swing rod was measured by the gyro accelerometer sensor,and the control of the rotating arm was realized by the DC motor with a reduction gear set.In order to improve the control precision and anti-jamming performance of the system,the data acquisition and processing technology was applied in the field zero point collection and complementary filtering.The swing rod can complete the circular motion from the natural droop state and keep the upside down,and quickly resume the inverted pendulum under the external force disturbance.It had good performance and practical application value.
出处
《通信电源技术》
2016年第4期140-141,147,共3页
Telecom Power Technology
