新型可调控旋转倒立系统设计.docxVIP

PAGE \* MERGEFORMAT PAGE \* MERGEFORMAT - 1 - 新型可调控旋转倒立系统 摘要 为了深入理解控制的非线性与不稳定性，本系统采用经典控制理与模糊控制理论相结合的方法，用WWDD53D4电位器作为角度传感器，STM32F103作为系统的控制模块，利用空心杯直流减速作为电机模块，利用L298N作为电机驱动模块，来完成倒立摆系统的组建。 通过双PID闭环系统控制，确立最初系统参数，调试系统程序，使得倒立摆系统能够实现倒立，走行倒立，摆起倒立，摆杆能完成圆周摆起等功能。并且经过系统的测试，所有功能都能达到基本的精度跟速度都能达到预想的标准。 倒立摆系统是控制理论的典型应用，是很好的研究控制中不确定性和非线性的良好的实验平台，控制中很多问题都可以在倒立摆系统中得以验证和模拟，并且在航空，军工及其其他工业生产方面，得以运用。 关键字：倒立摆 经典控制理论 STM32f103 L298N Abstract To deeply learn the control of nonlinear and instability, the system using classical control theory and fuzzy control theory are combined, with potentiometer WWDD53D4 as angle sensor and STM32F103 as the system control module, the coreless DC deceleration as the motor module, using L298N as motor driver module, to complete the formation of the inverted pendulum system. Through the double PID closed loop system control, establish the initial system parameters, debugging system procedures, making the inverted pendulum system can achieve the inverted pendulum, inverted pendulum, swing up the inverted pendulum, swing rod can complete the circle and other functions. And through the system test, all functions can achieve the basic accuracy and speed can achieve the expected standard. Inverted pendulum system is a typical application of the control theory, is a very good control of the uncertainty and nonlinear of good experimental platform, control a lot of problems can in the inverted pendulum system can be verified and simulated and in aviation, military and other industrial production that can be used. Key words: inverted pendulum classical control theory STM32f103 L298N 目录 TOC \o 1-3 \h \u HYPERLINK \l _Toc7381 新型可调控旋转倒立系统 PAGEREF _Toc7381 I HYPERLINK \l _Toc18684 摘要 PAGEREF _Toc18684 I HYPERLINK \l _Toc25826 Abstract PAGEREF _Toc25826 II HYPERLINK \l _Toc7506 第一章 绪论 PAGEREF _Toc7506 - 1 - HYPERLINK \l _Toc18441 1.1引言 PAGEREF _Toc18441 - 1 - HYPERLINK \l _Toc8834 1.2倒立摆研究的科学意义及应用前景 PAGEREF _Toc8834 - 1 - HYP