一种基于陀螺进动效应的倒立摆系统研制-机械工程专业论文.docx

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2018-05-05 发布于上海
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一种基于陀螺进动效应的倒立摆系统研制-机械工程专业论文.docx

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一种基于陀螺进动效应的倒立摆系统研制-机械工程专业论文

AbstractAninvertedpendulumsystemisakindofmodeling systemputforwardforthe needofresearch.Theresultsoftheinvertedpendulumcontrolresearchhavebeen widelyappliedtootherfieldsofnaturalunstablesystem.Thispaperstudiedseveral unicyclelateralequilibrationcontroldevices.Amongthem,thedevicebasedon masswasinefficientandwouldbringsystemfluctuations.Meanwhiletheside balancedevicebasedonswingrotorcouldnotrealizestablesystembalanceflexibly. Andthesidebalancedevicebasedonverticalrotorrequiredhighperformanceof drivemotorandcouldleadtohighenergyconsumption.Consideringallthe problemsmentionedabove,thispaperreferredtounicyclebalancingmechanism basedongyroandpresentakindofdevicebasedongyroprecessioneffect.Thenan invertedpendulumsystembasedongyroprecessioneffecthadbeendesignedand itsstableequilibriumability hadbeenstudiedmeanwhile.Inthispaper,theinvertedpendulumsystembasedongyroprecessioneffect consistoffourparts:theoutsidebracketofthegyro,theinsidebracketofthegyro, thegyrorotorandbottomwheelonthestructure.Thegyrorotorwasdrivenby disc-brushlessmotor.ThegyroscopedrivenbyDCmotorwasmadeupofinside bracketofthegyroandthegyrorotor,whichprovidedprecessionangularvelocity forthegyrorotor.Thecorepartofthecontrolsystemwasthecontrollerbasedon STM32F103C8T6,whichdirectlycontrolledthemotordrivers,information acquisitionofthesensorMPU6050andthedatacommunicationmodule,etc.Inthispaper,akindofPIDcontrolmethodbasedonsystemdynamicswas proposedwhichcouldrealizestableequilibriumofinvertedpendulum.Thestability andconvergenceofcontrolsystemwasverifiedthroughLyapunovstabilityanalysis. Tobefollowedwasthreekindsofsimulationfortheinvertedpendulumsystem basedongyroprecessioneffect,whichwererespectivelythesimulationbasedon thesystemtransferfunctioninSimulink,thesimulationbasedonprogrammingin Matlabandtheco-simulationbetweenAdamsandMatlab.ThesimulationandexperimentverifiedthefeasibilityofPIDalgorithmandthe invertedpendulumsystem’sabilityforstableequilibrium.Atthesametime,the initialvaluesofPIDparameters wereobtainedinpr