基于风力摆的综合实训平台  

Comprehensive practice training platform based on wind pendulum

作　　者：孙蓉[1] 李冰[1] 权申明 吕淑平[1] 苏丽[1] 王春华[2] 

机构地区：[1]哈尔滨工程大学自动化学院 [2]中国人民解放军92956部队

出　　处：《实验技术与管理》2016年第9期75-78,共4页Experimental Technology and Management

基　　金：黑龙江省高等教育学会高等教育科学研究"十二五"规划课题(HGJXHC110370);黑龙江省教育教学改革项目(JG2013010203);黑龙江省高等学校教改工程项目(JG2012010147);哈尔滨工程大学教育教学改革研究项目(JG2013YB20;SYJG20140402;SYJG20140404)

摘　　要：运用拉格朗日动力学定理,建立风力摆摆杆在状态空间的精确运动模型,进行控制系统仿真,改变状态反馈控制器参数,得到理想的控制策略。在此基础上,进行风力摆系统的硬件设计与搭建。选用飞思卡尔公司的Kinetis 60作为主控制器,并采用MPU6050传感器测量摆杆位置和角速度,依照建模仿真得到的控制策略对实际系统进行控制,实现了风自主起摆、设定距离画线、可控角度摆动、自主归位、画圆及抗扰动等一系列功能。通过基于风力摆的综合实训平台系统的完整搭建,学生的综合能力与素质得到很大锻炼与提高。This article uses Lagrange＇s dynamics theorem to establish pendulum＇s accurate motion model in the state space,and designs state feedback control algorithm preliminarily to simulate the control system.According to the results of the simulation,this article changes parameters of the state feedback controller to get the ideal control strategy,on this basis,designs and builds the hardware of wind pendulum system.This article also chooses Kinetis 60 of Freescale as the main controller,and uses MPU6050 sensors to measure the position and the angular velocity of the pendulum,and obtains control strategy through modeling and simulating,to control the actual system.Ultimately,the wind pendulum can realize a series of functions such as swinging up independently,setting the distance of line drawing,the controllable swing angle,homing independently,drawing circles,resistance to disturbance.Through building the integrated training platform system completely of the wind pendulum,students can greatly improve their comprehensive ability and quality.

关 键 词：风力摆 KINETIS 60 状态反馈控制器 MPU6050 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] G484[自动化与计算机技术—控制科学与工程]