摘要
设计并实现一种不依赖于PC机的倒立摆实控系统。在分析当前流行的倒立摆控制系统体系结构的基础上,提出了一种基于数字信号处理器(Digital Signal Processor,DSP)的系统设计方案。硬件方面以TMS320F2812 DSP为核心,设计了DSP最小系统及各接口电路,软件方面采用了决策与执行相分离的两层式结构。该系统具有结构简单、算法设计简便等特点。基于该系统,从能量角度讨论并实现了直线一级倒立摆的起摆控制,采用LQR方法实现了稳摆控制。实验证明,该方案工作可靠,能满足系统的实时性要求。
The problems of designing and implementing an independent inverted pendulum control system are discussed. A project of DSP-based automatic control system is proposed on the basis of analyzing the existing control systems of inverted pendulum. The system hardware consists of DSP and the flecessary interfaces, the system software comprises of decision layer and execution layer. The system possesses characteristics that the structure is simple, and the algorithm design is easy. Based on the system, pendulum starting control of first level linear inverted pendulum is implemented from view of energy, and pendulum steady control is realized by LQR method. The experimental results show that the scheme is reliable and can fulfill the requirement of realtime performance.
出处
《控制工程》
CSCD
2008年第2期209-212,共4页
Control Engineering of China
基金
国家自然科学基金资助项目(60375017)
北京市人才强教计划基金资助项目
