摘要
介绍了基于DSP(digitalsignalprocessing ,数字信号处理 )控制器的旋转式倒立摆控制系统的总体结构和工作原理 ,对系统模型进行动力学分析 ,建立了一个四阶的状态空间方程 .根据状态反馈方法实现了倒立控制 ,在此基础上 ,设计了基于规则分析的摆起控制方案 ,最终实现了摆起 倒立控制 .实验表明 ,系统的稳定性好 ,抗干扰能力强 .使用DSP来控制倒立摆 ,有利于系统的小型化 ,控制更加快速 ,控制品质有很大提高 .
The DSP-based Rotational Inverted Pendulum Control System is presented, including the system structure, system model building, measurement of the parameters, state-feedback based up-control methods design and rule-based swinging-control methods design. DSP-based control system has many advantages. It can be smaller and faster when using DSP as the controller of the pendulum compared with using a PC as a controller. Furthermore, the control quality, stability and robustness to sudden disturbances have all been improved.
