基于博创平台的一级倒立摆系统的设计.doc

基于博创平台的一级倒立摆系统的设计 指导教师： 评 阅 人： 完成时间： 摘 要 作为一个典型的被控对象，倒立摆具有诸多的特性，这些特性使得倒立摆系统成为了进行控制理论实验的绝佳平台。几乎所有在控制论中可以遇到和需要解决的问题，各种控制理论的实践所需要考虑的问题，在倒立摆上都可以见到。例如多阶性、系统的不稳定性、控制变量多、非线性以及强耦合性等。一个全新的控制方法，它是否具有处理非线性问题的能力，是否可以保持稳定，这些都可以在倒立摆上得到验证。 本论文以博创平台的创意之星组件为基础，搭建一个一级倒立摆的模型，在模型的基础上采用数字化PID算法。研究方法是利用创意之星模块化机器人套件，搭建一个倒立摆小车，根据创意之星组件的特点来调节舵机的ID和属性。再使用Northstar软件进行图形化编程，使小车可以前行，摆臂同时保持稳定。使用Northstar软件完成各个独立的方块图，然后再将这些方块图组合成程序流程图。对这些程序进行编译后下载至PID控制器中，就可以完成倒立摆软件的运行。根据距离传感器采集的数据进行相应的前进或转向，这里主要研究倒立摆的稳定性。 关键词：一级倒立摆；PID控制；博创平台 ABSTRACT As a typical controlled object, the inverted pendulum has many characteristics. These characteristics make the inverted pendulum system as an excellent platform for control theory experiment. Almost all of the control theory can be encountered and need to solve the problem, the practice of various control theory needs to consider the problem, can be seen on the inverted pendulum. For example, multi order, system instability, control variables, nonlinear and strong coupling and so on. A new control method, whether it has the ability to deal with nonlinear problems, whether it can be maintained stable, which can be verified on the inverted pendulum. This thesis builds an inverted pendulum model based on the Creative Star component of the platform, and uses the digital PID algorithm on the basis of the model. The research method is to use the Creative Star modular robot kit, to build an inverted pendulum car, according to the characteristics of the Creative Star components to adjust the steering gear ID and properties. The use of Northstar software for graphical programming, so that the car can move forward, the swing arm to maintain stability at the same time. The use of Northstar software to complete each of the independent block diagram, and then the block diagram into a program flow chart. After the program is compiled and download