基于DSP的倒立摆控制系统研究

【作者】 陈华龙；

【导师】 梁慧冰；

【作者基本信息】 广东工业大学 ， 控制理论与控制工程， 2004， 硕士

【摘要】 倒立摆控制是一个经典的控制平衡问题。作为一个自然不稳定系统，倒立摆一直被用作实时控制系统实验的控制设备。对于倒立摆的稳定控制相当困难，对控制领域的研究者来说是一个极具挑战性的难题。 本论文的主要目标是设计和建造一个基于数字信号处理器(DSP)的计算机控制系统来控制倒立摆的平衡。论文中用到的控制理论主要是线性控制理论和反馈控制理论。 本论文首先阐述了倒立摆系统控制的研究发展过程和现状；随后详细介绍了一级和二级倒立摆系统的动力学建模过程，并用MATLAB对倒立摆的运动特性进行了仿真。然后研究了倒立摆系统的各种控制策略，以MATLAB和SIMULINK为基础，做了大量的仿真研究工作，比较了各种控制方法的效果。并基于Lyapunov的二次型稳定理论，提出了一种新的控制方案，以实现倒立摆的大范围稳定。 本论文还设计了基于DSP的计算机控制系统。详细介绍了DSP硬件电路设计和外围电路设计，用C和汇编语言编写了系统的控制软件，并进行了软硬件联合调试。 最后，对本论文进行了总结，对下一步要进行的工作提出了自己的设想。 整个论文的完成。以一定的理论为基础，既有数学模型的推导，方法理论的探讨，又有实际控制系统设计过程，而且研究对象相当典型，故本课题有重大的理论意义和实际意义。更多还原

【Abstract】 The inverted pendulum is a classical control problem of balancing a stick vertically on a linear track cart. As an inherently unstable system by nature, the inverted pendulum has been used as the controlled device in a prototype real-time control system. The stabilization control of the inverted pendulum system is a primary challenge for researchers in control field because of the difficulty of the problem.The main aim of this thesis is to design and construct an inverted pendulum system based digital signal processor(DSP) and to control it. Linear and feedback control theory is required to keep the system stable.After concisely introducing the development and current situation of inverte pendulum system research, The analytic models of single inverted pendulum and two-stage inverted pendulum are derived and the activity feature of them are simulated using MATLAB. Subsequently, different control algorithms are designed based PID control and modern control theries, and the control effects of each control algorithms are simulated using MATLAB and SIMULINK. And also, a new control strategy based on Lyapunov stability theory is presented in this section in order to keep the inverted pendulum stabling in large regions.After that, a computer control systme based DSP and its peripheral circuit are disigned in this thesis in order to control inverted pendulum system,and the control algorithms are implemented in C and ASM language. The hardware and software of the system have been disigned and tested.Finally, the results obtained and the lessons learned are summarized, and future work is discussed.The research of this theis based on difinite theory, including the education of mathematical model, discussion of methodology and the design of real control system. What’s more, the research object is rather typical. So this research has an important academic and practical significance.更多还原