摘要
为了在教学中直观展示倒立摆的实时受力情况及其在不同情况下的控制方法,设计了教学用直立旋转自平衡演示仪。通过分析长方形摆杆在各个不同状态下的受力情况,推导出长方形摆杆和竖直状态的夹角θ以及电机臂和水平状态夹角α之间的关系,用霍耳编码器和WDD35d4电位器获取了长方形摆杆的实时运动数据,利用开环控制思路实现摆杆起摆,通过采集传感器数据控制仪器运行状态,从而实现自适应调整。演示仪的平衡控制中采用了模糊自适应算法,利用模糊自适应PID算法解决了稳定性差的控制难题,分别对长方形摆杆从静止到起摆以及稳定后被外力破坏再自平衡进行了模拟仿真,仿真结果与实物作品运行效果一致。该设计实现了倒立摆演示功能的多样化,可实现简谐运动、转动惯量、倒立摆等实验现象的演示,解决了教学演示现象单一的问题。
In order to intuitively display the real-time force condition of inverted pendulum and its control method under different conditions in teaching,a vertical rotation self balance demonstrator for teaching is designed.By analyzing the stress of the rectan⁃gular swing rod in different states,the relationship between the angleθbetween the rectangular swing rod and the vertical state and the angleαbetween the motor arm and the horizontal state is derived.The real-time motion data of the rectangular swing rod are obtained by hall encoder and WDD35d4 potentiometer,and the swing up of the swing rod is realized by using the open-loop control idea.By collecting sensor data,the power operation state of the instrument is controlled,so as to realize adaptive adjust⁃ment.The fuzzy adaptive algorithm is used in the balance control of the demonstrator,and the fuzzy adaptive PID algorithm is used to solve the control problem of poor stability.The rectangular swing rod is simulated from static to swing up,and then dam⁃aged by external force after stability.The simulation results are consistent with the operation effect of real works.The design realiz⁃es the diversification of demonstration functions of inverted pendulum,can realize the demonstration of experimental phenomena such as simple harmonic motion,moment of inertia and inverted pendulum,and solves the problem of single teaching demonstra⁃tion phenomenon.
作者
吴庆州
王涛
李雷
WU Qingzhou;WANG Tao;LI Lei(College of Zijin,Nanjing University of Science and Technology,Jiangsu Nanjing 210046,China)
出处
《机械设计与制造》
北大核心
2025年第7期195-199,共5页
Machinery Design & Manufacture
基金
南京理工大学紫金学院校级科研重点项目(2019ZRKX0401003)
江苏省高等学校基础科学(自然科学)研究项目资助(21KJD140003)。
