摘要
提出的二级倒立摆计算机控制系统是以江苏溧阳电子电器设备厂生产的二级倒立摆为对象,以CJ-801单板机为数字控制器组成的.选用线性二次型性能指标,采用连续化设计方法,不存在离散化的问题,因此设计简便.以数字微分代替观测器使系统结构简化,节省内存,大大缩短了控制程序计算时间.A/D和D/A通道仅用8片集成电路组成,造价低,安装调试方便.经实验表明动态响应令人满意,设计成功.
CJ-801 simple board computer is taken as the digital controller in the computer control system for double inverted pendulum.The linear quad-ratic performance index is selected and continuous desigh method is used,without discrete problem the design is very convenient.The digital diff-erential is used instead of the state observer,thus the system structure is simplified, memories are saved and program running time is reduced.It is easy to set on for only 8 IC are used in the A/D and D/A pass.The experiments show that the transient response is satisfactory.
关键词
倒立摆
计算机控制
数字滤波
二级
inverted pendulum
computer control
digital filter
digital differential
state feedback
