【正文】 姿態(tài)傳感器電路 ........................................................................................11 角位移傳感器 ................................................................................11 姿態(tài)傳感器電路 ........................................................................... 12 電機(jī)驅(qū)動電路 .......................................................................................... 13 電源電路 .................................................................................................. 14 第四章 倒立擺的軟件設(shè)計 ........................................................................... 15 軟件功能與框架 ...................................................................................... 15 單片機(jī)的資源配置 .................................................................................. 15 主函數(shù)功能 .............................................................................................. 18 主要算法及實(shí)現(xiàn) ....................................................................................... 18 角度函數(shù) ....................................................................................... 18 倒立控制函數(shù) ............................................................................... 19 第五章 上位機(jī)修改參數(shù) ................................................................................ 21 串口獵人使用方法 .................................................................................. 21 基本收碼發(fā)碼 ............................................................................... 21 高級發(fā)碼 ....................................................................................... 21 高級收碼 ....................................................................................... 22 波形顯示 ....................................................................................... 23 下位機(jī)程序設(shè)計 ...................................................................................... 23 目錄 ii 下位機(jī)的高級發(fā)碼程序設(shè)計 ....................................................... 23 下位機(jī)的高級收碼程序設(shè)計 ....................................................... 25 上位機(jī)修改參數(shù) ...................................................................................... 25 第六章 系統(tǒng)調(diào)試 .............................................................................................. 27 初步調(diào)試 .................................................................................................. 28 上電檢查 ....................................................................................... 28 單片機(jī)程序下載和通信 ............................................................... 28 測試 PWM 輸出 ............................................................................. 28 姿態(tài)傳感器采集 ........................................................................... 28 倒立控制調(diào)試 ........................................................................................... 29 測量傳感器零點(diǎn)偏移量 ............................................................... 29 標(biāo)定角位移傳感器比例值 ........................................................... 29 倒立控制參數(shù)整定 .................................................................................. 30 電機(jī)死區(qū)常數(shù)整定 .................................................................................. 30 第七章 總結(jié)與展望 .......................................................................................... 31 工作總結(jié) .................................................................................................. 31 不足與展望 .............................................................................................. 31 不足 ............................................................................................... 31 展望 ............................................................................................... 32 附錄一 電路原理圖 ............................................................................................. 33 附錄二 程序代碼 ................................................................................................. 36 參考文獻(xiàn) ................................................................................................................. 43 致 謝 ....................................................................................................................... 44 吉林工程技術(shù)師范學(xué)院畢業(yè)論文 1 第一章 緒論 課題研究的目的和意義 20 世紀(jì) 50 年代 ,控制理論專家開始了對倒立擺系統(tǒng)的研究。 As a plex, timevarying, nonlinear, strong coupling, natural unstable and higher order system, its stability control is a typical problem of the theory and application of control. The control method of Inverted Pendulum has been used in the military, aerospace, general industrial robots and industry process control Therefore, the research on mathematical model of work roll39。本文提出了基于卡爾曼濾波的傳感器數(shù)據(jù)融合方法，彌補(bǔ)了電位器在傾角測量時的不足。使用電位器作為姿態(tài)測量傳感器不斷測量擺桿的的姿態(tài)信息，通過轉(zhuǎn)換這些模擬信息傳送給作為控制核心的 8 位單片機(jī)，經(jīng)過數(shù)據(jù)處理后，單片機(jī)通過驅(qū)動電路將控制信號以 PWM 方式去驅(qū)動直流電機(jī)的，達(dá)到調(diào)節(jié)擺桿姿態(tài)的目的。倒立擺系統(tǒng)的高階次、不穩(wěn)定、多變量、非線性和強(qiáng)耦合等特性使得許多現(xiàn)代控制理論的研究人員一直將它視為研究對象。中文摘要 I 1 摘 要 倒立擺穩(wěn)定控制是一個經(jīng)典的控制問題。他們不斷從研究倒立 擺控制方法中發(fā)掘出新的控制方法 ,并將其應(yīng)用于航天科技和機(jī)器人學(xué)等各種高新科技領(lǐng)域。 在設(shè)計的基礎(chǔ)上，通過牛頓力學(xué)對 這個系統(tǒng)進(jìn)行數(shù)學(xué)建模，得到系統(tǒng)的狀態(tài)空間方程。通過建立一個實(shí)驗平臺來檢驗這個算法的有效性，實(shí)際測試中該算法取得了不錯的效果。s thermal crown has important value of the theory and practice. Many abstract concepts such as the stability of the control system, the control of controllability, system convergence speed and antiinterference ability, etc., can be intuitive show by inverted pendulum system. Inverted pendulum system of high order, unstable, multivariable, nonlinear and strong FGC feature makes many researchers in modern control theory have been see it as the research object. They have been unearthed from the inverted pendulum control method of new control method, and applied to all kinds of new and high technology fields such as aerospace science and technology and robotics. In this paper using potentiometer detection Angle of the firstorder inverted pendulum system as the research object, studied the angular signal contains large noise under the condition of equilibriu