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简易旋转倒立摆及控制装置 摘要： 倒立摆控制系统是一个复杂的、不稳定的、非线性系统，是进行控制理论教学及开展各种控制实验的理想实验平台[9].对倒立摆系统的研究能有效的反映控制中的许多典型问题：如非线性问题、鲁棒性问题、镇定问题、随动问题以及跟踪问题等。通过对倒立摆的控制，用来检验新的控制方法是否有较强的处理非线性和不稳定性问题的能力。同时，其控制方法在军工、航天、机器人和一般工业过程领域中都有着广泛的用途，如机器人行走过程中的平衡控制、火箭发射中的垂直度控制和卫星飞行中的姿态控制等。 本文设计了一个简易旋转倒立摆及控制装置。本装置采用MC9S12XS128单片机作为控制核心，LM2940作为稳压电源模块，供给单片机电压；BTS7960全桥驱动电路驱动直流电机转动，采用PWM技术动态控制电机的转速和方向。利用角度传感器（WDD35D4）采集的信息，并采用PID双闭环控制，使单片机对直流电机做出相应操作，通过传感器反馈的数据使控制更加精确、快速实现摆杆摇摆和倒立等相应状态。 关键词 :MC9S12XS128单片机；角度传感器；PID控制 Abstract Inverted pendulum control system is a complex , unstable , nonlinear systems, control theory is to carry out a variety of teaching and an ideal experimental platform control experiment . Research on the inverted pendulum system can effectively reflect the control of many of the typical problems : such as nonlinear problems , robustness issues , stabilization , with the dynamic issues and tracking problems. Through the inverted pendulum control , a new control method used to test whether there is a strong deal with nonlinear and instability problems. Meanwhile, the control method in the military , aerospace, robotics, and industrial process areas generally have a wide range of uses , such as the balance during walking robot control , rocket launchers in vertical flight control and satellite attitude control. This paper presents a simple rotary inverted pendulum and control devices. This device uses MC9S12XS128 microcontroller as control core , LM2940 as a power supply module , single-chip supply voltage ; BTS7960 full-bridge DC motor drive circuit rotation , using PWM technique dynamically control the motor speed and direction. Using the angle sensor (WDD35D4) collecting information and using double-loop PID control, the DC motor to make the appropriate microcontroller operation data through sensor feedback to make more precise control , fast implementation inverted pendulum swings and other relevant state. Key words: MC9S12XS128 microcontroller; angle sensor; PID control 绪论 早在20世