基于单片机控制的旋转倒立摆建模分析与系统设计  

The modeling analysis and system design of rotational inverted pendulum based on single chip microcomputer control

作　　者：曾宪阳[1,2] 杨红莉[3,4] 郁汉琪[1] 褚南峰[1] 

机构地区：[1]南京工程学院工业中心,江苏南京211167 [2]南京大学数学系,江苏南京210093 [3]南京工程学院数理部,江苏南京211167 [4]南京大学大气科学学院,江苏南京210093

出　　处：《电子技术应用》2016年第9期76-79,共4页Application of Electronic Technique

基　　金：南京工程学院青年基金重点项目(QKJA201404);南京工程学院创新基金重大项目(CKJA201410);南京工程学院2014年校级教学改革项目(JG201440)

摘　　要：旋转倒立摆结构简单,但控制系统较为复杂。介绍了旋转倒立摆的结构原理,运用分析力学中的Lagrange方程建立了旋转倒立摆的线性数学模型,推导出其公式及较为准确的状态方程描述,分析了旋转倒立摆的不稳定性和可控性。设计了控制系统硬件电路及软件程序编写,对系统整个控制过程进行了数据采集、图形展示,分析了摆杆从自然下垂到摆起180°实现倒立的整个过程。系统采用离散PID调节算法进行控制,保证了系统的稳定性,融入卡尔曼滤波算法滤除可能出现的干扰信号,保证了数据的准确性。Structure of rotational inverted pendulum is simple, but the control system is more complicated. This paper introduces the structure of rotational inverted pendulum, Lagrange equation in analytical mechanics linear mathematical model of rotational in-verted pendulum is established, the formula and a more accurate equation of state description are deduced, and the instability and controllability of rotational inverted pendulum are analyzed. The control system hardware circuit and software programming are de-signed. The control process of the system for data acquisition, graphic display, swinging rod is analyzed from natural prolapse to set up the whole process of 180 ° handstand. System control uses the discrete PID algorithm to ensure the stability of the system. And the infusion of the Kalman filtering algorithm filters the possible jamming signal, which ensures the accuracy of the data.

关 键 词：旋转倒立摆 LAGRANGE 数学模型 卡尔曼滤波 PID调节 

分 类 号：TK323[动力工程及工程热物理—热能工程]