摘要
针对现有倒立摆实验平台占地空间大、价格贵,控制器接口封闭等问题,该文设计出结构紧凑,硬件可视化、接口开放化、模块化的倒立摆实验平台。首先建立了直线倒立摆数学模型,并搭建出控制系统仿真模型。然后结合根轨迹法和SISO工具完成位置环和角度环的控制器设计与仿真,同时对控制系统进行仿真与波形分析。构建基于微处理器的直线倒立摆实验平台,最后进行软硬件实验测试与结果分析。实验结果表明,所提出的控制策略可以实现倒立摆直立控制,直线倒立摆实验平台能满足综合性实验教学要求,有利于提高学生设计、应用、创新及解决实际工程问题的能力。
In view of the problems of the existing inverted pendulum experimental platform such as large space, expensive price and closed controller interface, this paper designs an inverted pendulum experimental platform with compact structure, hardware visualization, open interface and modularization. Firstly, the mathematical model of linear inverted pendulum is established, and the simulation model of control system is built. Then, the controller design and simulation of position loop and angle loop are completed by using the root locus method and SISO tool. At the same time, the simulation and waveform analysis of the control system are carried out. The experimental results show that the proposed control strategy can realize the vertical control of inverted pendulum, and the experimental platform of linear inverted pendulum can meet the requirements of comprehensive experimental teaching, which is conducive to improving students’ ability of design, application, innovation and solving practical engineering problems.
作者
易磊
张蓉
邓春花
尹仕
YI Lei;ZHANG Rong;DENG Chunhua;YIN Shi(School of Electrical and Electronic Engineering,Huazhong University of Science and Technology Wuhan 430074,China)
出处
《实验技术与管理》
CAS
北大核心
2021年第1期99-104,共6页
Experimental Technology and Management
基金
教育部首批“新工科”研究与实践项目“依托学科优势,面向‘电气化+’,重构电气工程本科实践教育体系与实践平台”(教高厅函〔2018〕17号)。
关键词
倒立摆
微处理器
综合性实验
inverted pendulum
microprocessor
comprehensive experiment
