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Rotary inverted pendulum control experiment system and control method

A technology of rotating inverted pendulum and controlling experiments, applied in the direction of using feedback control, etc., can solve the problems that students are not easy to understand the principle, students lose interest in learning, and control objects are combined

Inactive Publication Date: 2014-09-10
HANGZHOU DIANZI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The automatic control principle experiments of automation majors are generally implemented based on the MATLAB simulation platform, which cannot be well combined with the control object
Moreover, the classic control theory is not applied to actual objects, which not only makes it difficult for students to understand its principles, but also easily makes students lose interest in learning

Method used

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  • Rotary inverted pendulum control experiment system and control method
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  • Rotary inverted pendulum control experiment system and control method

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Embodiment Construction

[0031] The present invention will be further described below in conjunction with the accompanying drawings.

[0032] like figure 1 As shown, a rotating inverted pendulum control experiment system includes a potentiometer angle measuring module 1, a control driving module, and an angle monitoring module.

[0033] The potentiometer angle measurement module 1 uses the model WDD35D-1 angle measurement module. When the system is working, the angle of the swing rod is converted into a voltage value change by the potentiometer angle measurement module 1, and then sent to the control drive module for processing.

[0034] The control drive module includes a serial port communication circuit 2-1, an MCU control circuit 2-2, and a power amplifier circuit 2-3. The angle monitoring module includes an angle display unit 3-1 and a parameter setting unit 3-2.

[0035] Pin 1 of potentiometer angle measuring module 1 is connected to GND of MCU control circuit 2-2, pin 2 is connected to pin PA4 ...

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Abstract

The invention relates to a rotary inverted pendulum control experiment system and control method. Existing inverted pendulum control systems are expensive and mostly used by teachers rather than students. The rotary inverted pendulum control experiment system comprises controllers, a motor driver module, an angle measurement module, PC (personal computer) serial port communication interfaces, a power supply module and a PC; a main controller is connected with the PC through a CH341 serial port interface and comprises the CH341 serial port interface, an MCU (Microprogrammed Control Unit) module, a direct current motor, an LM298 drive module, a high-precision potentiometer and an LM3150 power supply chip; an I / O interface of the MCU module of the main controller is connected with the CH341 serial port interface, the direct current motor, the PC, the LM298 drive module and the high-precision potentiometer. The rotary inverted pendulum control experiment system and control method has the advantages of being operable, simple in operation, high in safety and low in costs.

Description

technical field [0001] The invention relates to the field of automatic control, and mainly relates to a rotating inverted pendulum control experiment system and a control method. Background technique [0002] The inverted pendulum has been widely studied because it is an absolutely unstable, multivariable, strongly coupled high-order nonlinear system, and its control methods are various. Engineering technology fields such as intelligence, needle bomb interception control system, aviation docking control technology, rocket launch, and satellite flight have broad prospects for utilization and development. For example, problems such as balance control during upright walking of a robot, vertical control during rocket launch, and attitude control during satellite flight are similar to the inverted pendulum system, and all involve inversion problems. Moreover, the control method of inverted pendulum also has great reference for us to deal with general industrial engineering. The...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D3/12
Inventor 余善恩陆建锋熊伟鹏董亦明
Owner HANGZHOU DIANZI UNIV
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