2013全国大学生电子设计竞赛文档(倒立摆).docVIP

PAGE 摘 要本文介绍了以AVR mega328P单片机为控制核心，通过编码器得到系统变量，应用PID控制算法，步进电机调速对环形倒立摆进行控制，实现了倒立摆在一定的角度范围内动态倒立以及圆周运动。同时可以通过键盘设定运行模式并且读出系统当前状态，具有较好人机界面。经测试，本系统完成了题目所要求的各项基本指标，并达到了全部的发挥部分要求。关键词：AVR mega328P 环形倒立摆 PIDAbstractThis paper introduces the AVR mega328P microcontroller core, obtained by the encoder system variables, the application of PID control algorithm, the stepper motor speed on the annular inverted pendulum control, to achieve the inverted pendulum in a certain range of angles and circular motion dynamic inverted . You can also set the operating mode via the keyboard and read the current state of the system and has good man-machine interface. After testing, the system completed all the required questions basic indicators, and reached all play a part requirements.Keywords: AVR mega328P annular inverted pendulum PID目 录 TOC \o 1-3 \h \z \u HYPERLINK \l _Toc366349324 第一章 系统方案论证与选择 PAGEREF _Toc366349324 \h 1 HYPERLINK \l _Toc366349325 1.1系统结构 PAGEREF _Toc366349325 \h 1 HYPERLINK \l _Toc366349326 1.2方案比较与选择 PAGEREF _Toc366349326 \h 1 HYPERLINK \l _Toc366349327 1.2.1芯片控制模块 PAGEREF _Toc366349327 \h 1 HYPERLINK \l _Toc366349328 1.2.2电机选择 PAGEREF _Toc366349328 \h 2 HYPERLINK \l _Toc366349329 1.2.3电动机驱动调速模块 PAGEREF _Toc366349329 \h 2 HYPERLINK \l _Toc366349330 1.2.4编码器选择 PAGEREF _Toc366349330 \h 3 HYPERLINK \l _Toc366349331 1.2.5显示方案选择 PAGEREF _Toc366349331 \h 3 HYPERLINK \l _Toc366349332 第二章 理论分析与计算 PAGEREF _Toc366349332 \h 4 HYPERLINK \l _Toc366349333 2.1 电动机选型 PAGEREF _Toc366349333 \h 4 HYPERLINK \l _Toc366349334 2.2摆杆状态检测 PAGEREF _Toc366349334 \h 5 HYPERLINK \l _Toc366349335 2.3驱动与控制算法 PAGEREF _Toc366349335 \h 7 HYPERLINK \l _Toc366349336 2.3.1驱动 PAGEREF _Toc366349336 \h 7 HYPERLINK \l _Toc366349337 2.3.2控制算法 PAGEREF _Toc366349337 \h 8 HYPERLINK \l _Toc366349338 第三章 机械与电路及程序设计 PAGEREF _Toc366349338 \h 9 HYPERLINK \l _Toc366349339 3.1机械设计 PAGEREF _Toc366349339 \h 9 HYPERLINK \l _Toc366349340 3.1.1 旋转臂杆与摆杆 PAGEREF _Toc366349340 \h 9 HYPERLINK \l _Toc36