摘要
倒立摆是研究控制算法的典型装置,针对倒立摆实物研究较少的现状,以TMS320LF2407为核心控制器,高精度电位器为采样器件,A3952和直流力矩电机为驱动,设计了一个环形倒立摆系统。该系统结构简单,但具有复杂的数学模型。系统具备DSP和PC两种控制方式和校正功能,以满足对控制实时性、鲁棒性、调试便利性的不同要求;串口通信和界面的设计便于人机交互。实验表明,所设计的系统具有良好的稳定性和抗干扰能力,同时控制过程平稳,反应迅速,具有良好动态品质。
To the fact that inverted pendulum is a typical device in control algorithm research, and there is less study based on entity, the DSP TMS320LF2407 is used to design a rotary inverted pendulum system that has simple structure and complex mathematical model. It adopts highly precise electrograph to sample, and A3952 together with torque motor to drive. The designed system has DSP and PC control modes for the real-time control, debugging convenience to the different requirements, and the calibration function enhances the robustness in the control. It is convenient for intercommunion by the SCI and interface design. The experiments show the stability, disturbance resistibility and dynamic characteristic of the system.
出处
《控制工程》
CSCD
2008年第1期82-84,共3页
Control Engineering of China
