基于ARM的倒立摆系统设计.docVIP

摘 要 倒立摆控制问题公认为控制理论中典型的控制问题。在现实生活中，可以形象的看做是杂技顶杆表演，其物理机制与控制系统的稳定性密切相关，它深刻地揭示了自然界一种基本现象，即一个自然不稳定的被控对象，通过人的直觉的、定性的控制手段．就可以具有良好的稳定性[1]。倒立摆的控制问题的研究和实现不仅有其深刻的理论意义，还有重要的工程背景。因此，倒立摆能够为验证其控制策略和方法的可行性提供有效的装置，以检验控制律实现的有效性和实时性。它是一种广泛应用的物理模型，倒立摆控制理论产生的方法和技术将在半导体及精密仪器加工、机器人技术、导弹拦截控制系统、航空器对接控制技术等方面具有广阔的开发利用前景。 本文针对单级倒立摆系统(Simple Inverted Pendulum System)提出了基于ARM的控制方案，单级倒立摆及其载体的运动模型是一种复杂的非线性模型。本课题利用牛顿—欧拉法对直线一级倒立摆的小车和摆杆部分进行理论建模，并对直流电机及其驱动电路、红外线检测、限位开关等机械部分进行分析。我们将能量控制理论运用其中，倒立摆平衡控制部分应用PID算法实现。设计了一套具有较低复杂度和较短响应时间的控制系统，然后使用matlab软件中的Simulink工具对得到的模型进行计算机仿真。最后在基于ARM2131完成了整个系统的设计和调试。 最后对该平台的研究工作进行展望。 关键词:倒立摆系统、能量反馈、ARM2131控制、直流电机、编码器 ABSTRACT The control problem of inverted pendulum is recognized the typical control issues in the control theory. In real life, it can be seen as the image that Acrobatics performances, and the physical mechanism is closely related to the stability of control system, it profoundly reveals a basic phenomenon of the nature, that is a natural instability of the object through The intuitive, qualitative that means of control and then it Can have good stability. The study and realization of Inverted pendulum control not only have profound theoretical significance but also have important engineering background. Therefore, the inverted pendulum be able to provide an effective device to validate its control strategy and the feasibility and to test the effectiveness of control law and real-time. It is a widely used physical model. The control methods and techniques of inverted pendulum will have broad prospects for the development and utilization in semiconductor processing and precision instruments, robot technology, the control system of intercept missiles, aircraft and other aspects of docking control technology. This topic for Simple Inverted Pendulum System raise the ARM-based control scheme, simple inverted pendulum and its vector of movement model is a complex non-linear model. This subject obtains the theory model of the car and the swing link part of inver