毕业论文基于单片机控制的旋转倒立摆系统（硬件设计）.docVIP

摘 要 简易旋转倒立摆系统是非线性、多变量、强耦合和绝对不稳定的系统。它深刻的揭示了自然界是一种基本规律，即一个自然不稳定的被控对象，运用控制手段可使之具有良好的稳定性。在多种控制理论与方法的研究和应用中，特别是在工程实践中，也存在一种可行性的试验问题，将其理论和方法得到有效的经验，倒立摆为此提供了一个从控制理论通往实践的桥梁。 本题设计一个基于单片机控制的旋转倒立摆系统，其机械部分包括旋转臂、摆杆、步进电机、欧姆龙E6B2-CWZ6C增量式光电旋转编码器，硬件部分由STC89C52单片机、电源模块和驱动电路等部分组成，并且与软件程序构成一个完整的控制系统。并且以STC89C52作为控制器的核心，采用57BYG250-80型步进电机作为控制旋转臂的动力，由于利用单片机来控制电机，利用ZD-6560-V4驱动电路，以E6B2-CWZ6C编码器来作为角度检测模块，将数字信号转送到单片机中从而可以显示摆杆角度变化。单片机根据控制规律经计算，然后控制电机来改变工作。并通过PID控制算法进行控制达到所要的旋转及控制目标。 关键词：旋转倒立摆，步进电机，光电编码器，单片机，PID ROTATIONAL INVERTED PENDULUM BASED ON SINGLE-CHIP MICROCONPUTER SYSTEM HARDWARE DESIGN ABSTRACT Simple rotation inverted-pendulum system is nonlinear, Multivariable, strong coupling, and definitely not a stable system. It profoundly reveals the basic laws of nature is a kind of, namely a natural instability control, application control can give good stability. In a variety of research and application of theories and methods of control, particularly in the practice of engineering, also there is a possibility of testing issues, theories and methods of effective experience, pendulum provides a bridge from control theory to practice. Beside the design of a rotational inverted pendulum system based on single-chip microcomputer principle and its mechanical components including the swing-arm, swing, stepping motor, Omron E6B2-CWZ6C incremental photoelectric rotary encoder, hardware parts by STC89C52 single-chip, power supply driving circuit for modules and components, and constitutes a complete control system and software programs. And with STC89C52 as the core of the controller, using 57BYG250-80-type stepping motors to control the swing-arm power, due to the use of single-chip microcomputer to control motors, use ZD-6560-V4 driving circuit, to angle measure up with E6B2-CWZ6C encoder module will transmit digital signals onto a single chip so that you can display angle of swing changes. Single-chip microcomputer based on controlling the regularity is calculated, and motor control to ch