基于DSP的倒立摆控制系统的研究-电力电子与电力传动专业论文.docxVIP

ABSTRACT舢an ABSTRACT 舢an inherently unstable system by nature．tlIe inverted pendulum has been used as tIIe COntrolled device in a prototype real．time control system．0ne call not only SOlye the control theory problem，but also put the mechanics，mathematics and electrics together through studying the inverted pendulum．In the modem mechanical control systel，there is the same problem in the helicopters，the emitting of the rocket and the emitting of the satellite，In our livCS，there iS also the same question in the gym，skating and driving by bicycle．So the research of the inverted pendulum is very important both to the project and to our lives． T1le main aim of this thesis is to design and construct all inverted pendulum system based on digital signal processor(DSP、and to control it．Linear and feedback control theory is required to keep the system stable． At first，the background pendulum are introduced．Many control methods of the inverted pendulum are briefly illustrated．And then，this PaDer establishes the mathematic analytic models of single inverted pendulum and two．stage inverted Dendulum according to the second law of Newton and the foundation of the dynamics， and simulates the activity feature of them by using MAll AB． Subsequently,research the different kind control algorithms of inverted pendulum system and compare the control effects of each control algorithms． After that，a eomputer control systern based DSP and its peripheral circuit are designed in this thesis in order to eontr01 inverted pendulum system，and the control algorithms are im【plemented in C and ASM language．The hardware and software of the systern have been designed． Finally,the results obtained and the lessons learned are summarized，and future WOrk is discussed． The research of this thesis based on definite theory,including the education and analysis ofmathematical model，discussion of methodology and the design of real COntrol system．WhatlS more，the research 0biect is rather typical．The W0rk present