基于DSP的两轮式倒立摆自平衡控制系统  

Two-Wheel Inverted Pendulum Self-Balance Control System Based on DSP

作　　者：张华宾[1] 张培仁[1] 李昊华[1] 许波[1] 杨天宝[1] 

机构地区：[1]中国科学技术大学自动化系,安徽合肥230027

出　　处：《测控技术》2007年第11期23-26,共4页Measurement & Control Technology

摘　　要：应用动力学理论的拉格朗日方程对两轮式倒立摆自平衡控制系统进行系统分析和数学建模,并基于状态反馈等控制理论对控制系统进行仿真,实现了基于DSP的软件控制,使系统在各种运动状态下保持平衡。两轮式自平衡控制系统已经初步实现自平衡,以及行走等功能。By using dynamics theory and method, the mechanics principle of two wheel inverted pendulum system can be analysed and the mathematical model can be established. On the basis of automation control theory of state feedback, simulation has been done and the software control is realized with DSP, The two-wheel self-balance control system already has the ability to keep balance whenever still or running.

关 键 词：两轮式倒立摆 自平衡控制系统 DSP 状态空间方程 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]