终极版电子大赛说明书.docVIP

PAGE  2013年全国大学生电子设计竞赛 简易旋转倒立摆（c题） 【本科组】 2013年9月6日 摘 要 本文介绍了以５１单片机为控制核心，通过陀螺仪传感器、直流伺服电机得到系统变量，应用PID控制算法，PWM电机调速对一级倒立摆进行控制，实现倒立摆在一定的角度范围内动态倒立。同时可以通过键盘设定运行模式和相关角度值、液晶显示摆角和运行时间，具有较好人机界面。系统设计结构简单，制作成本低，控制精度较高，具有较高的性价比。 关键词：单片机；一级倒立摆；PID Abstract： With the 51 single-chip microcomputer as the core has been introduced in this paper, through the Angle sensor, dc servo motor system variables, using PID control algorithm, PWM motor speed to control level inverted pendulum, realize stand in certain Angle range of dynamic balance. At the same time can be set by keyboard operation mode and the relevant Angle value, liquid crystal display (LCD) angular and running time, has a good man-machine interface. System design has simple structure, low production cost, high control precision, has the high cost performance. Key words: single chip microcomputer; Level 1 inverted pendulum; The PID. 目 录  TOC \o 1-3 \h \z \u  HYPERLINK \l _Toc366347101 1系统方案  PAGEREF _Toc366347101 \h １  HYPERLINK \l _Toc366347102 1.1 电机的论证与选择  PAGEREF _Toc366347102 \h １  HYPERLINK \l _Toc366347103 1.2 传感器的论证与选择  PAGEREF _Toc366347103 \h １  HYPERLINK \l _Toc366347104 1.3 控制系统的论证与选择  PAGEREF _Toc366347104 \h ２  HYPERLINK \l _Toc366347105 2系统理论分析与计算  PAGEREF _Toc366347105 \h ２  HYPERLINK \l _Toc366347106 2.1 PID控制的分析  PAGEREF _Toc366347106 \h ２  HYPERLINK \l _Toc366347107 2.1.1 PID控制简介  PAGEREF _Toc366347107 \h ２  HYPERLINK \l _Toc366347108 2.1.2 PID控制各部分的特点  PAGEREF _Toc366347108 \h ２  HYPERLINK \l _Toc366347109 2.1.3 PID控制器的参数整定  PAGEREF _Toc366347109 \h ３  HYPERLINK \l _Toc366347110 2.2 PID算法的计算  PAGEREF _Toc366347110 \h ３  HYPERLINK \l _Toc366347111 2.2.1  PAGEREF _Toc366347111 \h ３  HYPERLINK \l _Toc366347112 2.2.2  PAGEREF _Toc366347112 \h ３  HYPERLINK \l _Toc366347113 2.2.3  PAGEREF _Toc366347113 \h ４  HYPERLINK \l _Toc366347114 2.3 倒立摆模型的基本计算  PAGEREF _Toc366347114 \h ４  HYPERLINK \l _Toc366347115 2.3.1 定义