基于PID算法的旋转倒立摆实验教学平台研究  

Research of rotating pendulum experiment teaching platform based on PID algorithm

作　　者：千承辉[1] 胡鹤[1] 孙慧慧[1] 刘鸿石[1] 白杨[1] 

机构地区：[1]吉林大学仪器科学与电气工程学院,吉林长春130061

出　　处：《实验室科学》2016年第4期35-37,共3页Laboratory Science

基　　金：2015年吉林大学实验技术项目(项目编号:409020720044)

摘　　要：开发了一套基于PID控制算法的实验教学平台,由电机、编码器的硬件架构及驱动电路、ARM内核片上系统、PID算法和上位机仿真软件等组成。平台能够仿真上位机算法并选择最佳运动状态的PID参数,片上系统产生控制信号驱动倒立摆的电机验证其结果,上位机实时显示相关参数及运动状态。经实践教学,学生在平台中通过独立完成对PID控制算法计算和查看倒立摆的运转。同时该平台能调动学生兴趣,提高实践动手能力,有助于深化理论教学,让实验不再是乏味无趣的一门课程。A set of experimental teaching platform based on the P1D control algorithm,by the motor, encoder hardware architecture,a drive circuit,the ARM core chip system, P1D algorithm software sys-tem and PC emulation software and other components is developed in our research program. The plat-form can simulate PC algorithm and select the P1D which is in the best athletic state; the on-chip can produce control signal to drive the inverted pendulum motor to verify the results ; PC can display the relevant parameters and motion real-timely. Experiments show that the students can complete the P1D control algorithm calculation,and check revolve of the inverted pendulum independently from practice in the experimental teaching platform. Meanwhile it can also mobilize student,s interest,improve practi-cal ability and deepen theory teaching in order to make our experiment not to be an insipid course.

关 键 词：PID控制 实验教学 旋转倒立摆 ARM控制器 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]