简易旋转式倒立摆实验装置的控制研究  

Study of Control of Simple Rotational Inverted Pendulum Device

作　　者：马金瑾 李林[1] 张欢[1] 李天煌 

机构地区：[1]南京农业大学工学院,南京210031

出　　处：《现代科学仪器》2014年第5期73-76,共4页Modern Scientific Instruments

摘　　要：对倒立摆系统研究具有重要的应用价值,但其严重不稳定,受到了很多变量的影响。在对倒立摆系统进行研究后,提出一种简易典型的旋转式倒立摆实验装置。该装置使用角位移传感器采集摆杆角度,经过STM32处理后,通过运用PID算法来实现对旋转倒立摆的闭环控制,最后结合硬件调节反馈参数。结果表明这种控制方法可以良好的控制旋转式倒立摆。The study of the rotational inverted pendulum has important application value,but it is unstable seriously because it is influenced by many variables.After the research of the rotational inverted pendulum,a simple but typical rotational inverted pendulum is presented.The device use the angular displacement sensor which collect the angle of the pendulum,after the processing of the STM32,using the PID algorithm to realize the closed loop control of rotational inverted pendulum,finally regulates feedback parameter by combing hardware.The result expresses that the control method has good effect to the stability control of the rotational inverted pendulum.

关 键 词：旋转式倒立摆 角位移传感器 STM32 PID算法 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]