摘要
倒立摆是控制领域中典型的被控对象。本文通过智能控制算法实现倒立摆的起摆控制。当摆杆的角度进入稳定区域时,通过PID控制算法使摆杆稳定。整个控制过程由基于DSP(DigitalSignalProcessor)为核心的控制器来实现。经过实物检验,成功地实现了一级倒立摆的稳摆和起摆控制。
The balancing of an Inverted Pendulum is a classic problem in the area of control. This paper will describe the artificial Intelligence method to swinging up the pendulum. After the pendulum is swung up, the PID controller has been implemented to maintain the balanced state. DSP（Digital Signal Processor）has been used as the main control equipment. Through the experiment, the pendulum has been swung successfully from the downwards position to the upright position in this process.
出处
《微计算机信息》
北大核心
2006年第06Z期176-177,115,共3页
Control & Automation
关键词
倒立摆
PID控制
起摆
DSP
Inverted pendulum, PID controller ,swinging up, DSP
