基于STM32微制器的旋转倒立摆设计.docVIP

PAGE 11简易旋转倒立摆及控制装置摘 要 为了满足旋转倒立摆的控制，本系统采用了STM32微控制器为控制核心，采用模块化的设计方案。电机驱动模块采用了L298N作为电机驱动芯片，通过PWM波精确控制电机运转。采用编码器测量旋转角度，能对转轴的旋转作精确测量。程序设计方面采用了工业过程控制中广泛应用的PID控制器，使系统达到理想的稳态状态。测试结果表明，旋转臂能够带动摆杆完成题目中的各项要求。关键词：旋转倒立摆；STM32微控制器；PWM波；编码器AbstractIn the system, STM32 microcontroller is used as the core to control the rotary inverted pendulum with the modular design. L298N, outputting PWM to control the motor precisely, is the motor driver chip in the modular of motor drive and the angle of the rotation axis can be accurately obtained by the angle encoder. In order to enhance the robustness of the