用单板机控制的平行倒立摆系统  

Single-board Computer Control of Parallel Inverted Pendulum System

作　　者：何介圭 钱维铁 

机构地区：[1]上海机械学院计算机系

出　　处：《控制理论与应用》1989年第2期119-123,共5页Control Theory & Applications

摘　　要：本文介绍了在国内由作者首次实现的用8位单板机控制的平行倒立摆系统,它较国外同类装置控制简单,价格便宜。文中还介绍了该系统的数学模型,控制算式及用PC机辅助单板机控制器设计的方法。文末还给出了仿真和实验结果的比较。The control of parallel inverted pendulum is successfully realized. An 8-bit single-board computer controller is used. Compared with the existing system abroad(1), the control method and means we employed are simpler and cheaper.The paper presents the mathematical model of the system, the control algorithms adopted and the approach of PC aided design of single-board computer controller. The comparison of step response between results of real-time control and of simulation is also given.

关 键 词：微机 平行倒立摆 控制论 

分 类 号：O231[理学—运筹学与控制论]