一级旋转倒立摆及其控制装置的研究与实现
Research and Implementation of a Rotary Inverted Pendulum and Its Control Device
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摘要: 通过拉格朗日方程推导出一级旋转倒立摆系统的数学模型，起摆运动部分利用雅普诺夫方程分析，以摆杆势能偏差作为调控量对系统进行闭环控制，使系统摆杆运动受控，在倒立摆成功摆起后，在倒立摆非稳定平衡点处对系统模型进行线性化，并采用双闭环 PID 算法对倒立摆模型旋臂位置和摆臂位置进行稳定控制，并使用32位MCU 搭建实验平台进行实际验证。结果表明，该控制方法可以实现旋臂静止和摆臂稳定于非稳定平衡点的效果。Abstract: In this article,the mathematical model of the first level rotary inverted pendulum system has been deduced according to the Lagrange's equations.The swing part of the motor uses the Lyapunov equa-tion to analyze,and uses the swing rod potential deviation as a control measurement to make the system closed loop control,making the system swing rod be controlled,after the success of the inverted pendulum swing up,in the inverted pendulum unstable equilibrium point to linearize the system model,and the double closed loop PID control algorithm of inverted pendulum model rotation arm position and the swing arm position stability control and the use of 32 bit MCU experimental platform is built to verify the actual. The results show that this control method which is introduced in this article can make the rotary arm rest-ing reasonable and swing arm stability lies in the effect of unstable equilibrium point.
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