摘要
设计了旋臂式倒立摆实验装置,首次提出了上、下摆位的概念,并对下摆位模式进行研究,建立了系统数学模型,用先进的Motorola Mpc555 DSP对系统进行测试与控制,效果表明测试准确,控制效果良好。
A arm-driven inverted pendulum is developed. The concept of up-up and down-up model is defined first time. Modeling and analysis of the down-up model. This pendulum is stood up by advanced 32 bit DSP, and robustresult is obtained.
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2006年第z3期2374-2375,共2页
Chinese Journal of Scientific Instrument
关键词
旋臂式倒立摆
DSP
稳定性
arm-driven inverted pendulum DSP stability
