基于C8051F020单片机的简易旋转倒立摆系统  

Simple Rotary Inverted Pendulum System Based on C8051F020

作　　者：陆斌[1] 郭燕飞[1] 

机构地区：[1]太原科技大学电子信息工程学院,山西太原030024

出　　处：《工业控制计算机》2014年第2期123-124,共2页Industrial Control Computer

摘　　要：倒立摆系统是研究控制理论的实验平台,利用C8051F020单片机作为平台构建了一个简易的旋转倒立摆系统。系统采用L298N组建功率放大电路驱动直流电机,控制电机按照要求运行;对角度传感器检测到的摆杆位置作AD采样,并将其反馈给单片机,与设定值进行比较,实现闭环调节;摆杆的平衡控制采用PID算法调节,取得了满意的控制效果。Inverted pendulum system is an dulum system based on C8051F020 experiment platform to study control theory.In single-chip microcomputer is built.The power this paper,a simple rotary inverted pen- amplification circuit is designed to drive direct-current machine using L298N so as to control the machine＂ running.The position of pendulum boom detected by angle sensor is sampled with AD.The sampled results are fed back to single-chip microcomputer,and then compared with the setting value to realize closed-loop＂ adjustment.

关 键 词：倒立摆 单片机 PID 

分 类 号：TP368.1[自动化与计算机技术—计算机系统结构]