【正文】 .......................... 7 擺桿起振狀態(tài)分析 ........................................................................................................ 7 擺桿進入開始調(diào)整倒立平衡的角度范圍 ...................................................................... 8 4 程序與電路的設計 … ……………………………………………………………………… 10 電路的設 計 ....................................................................................................................... 10 系統(tǒng)總體框圖 ............................................................................................................... 10 系統(tǒng)的電路原理圖 ....................................................................................................... 10 電機驅(qū)動模塊的電路設計 ........................................................................................... 10 程序的設計 ....................................................................................................................... 11 程序功能描述與設計思路 ........................................................................................... 11 程序流程圖 ................................................................................................................... 11 5 測試方案與測試結(jié)果分析 ………………………………………………………………… 13 目錄 測試方案 ........................................................................................................................... 13 測試條件與儀器 ............................................................................................................... 13 測試結(jié)果及分析 ............................................................................................................... 13 測試結(jié)果 (數(shù)據(jù) ) .............................................................................................................. 13 測試分析與結(jié)論 ............................................................................................................. 14 結(jié)論 …………………………… …………………………………………………………… ...15 參考文獻 …………………………… …………………………………… ………………… ...16 致謝 …………………………… …………………………………………………………… ...17 附錄 1：系統(tǒng)電路原理圖 …………………………………………………………………… 18 1 緒論 1 1 緒論 倒立擺系統(tǒng)是理想的自動控制教學實驗設備，使用它能全方位的滿足自動控制教學的要求。從而可方便地判斷出旋轉(zhuǎn)方向，而 Z 相為每轉(zhuǎn)一個脈沖，用于基準點定位。該芯片的主要特點是 :工作電壓高，最高工作電壓可達 46V。所以，為了解決這一問題，我們在擺桿處于自然下垂狀態(tài)時，既擺桿處于 0 位時，我們在程序中在此刻增加一個很小的角度，使擺桿即使在 0 位，也可以通過控制算法輸出一個小的控制量，來實現(xiàn)擺桿最初的起振。之前我們在模型的建立上忽略了公式 (39)等號右邊的后兩項，造成了比較大的誤差。 測試結(jié)果及分析 測試結(jié)果 (數(shù)據(jù) ) 測試功能一，擺桿起振測試擺桿在起振時擺桿擺動的角度大于 60 度的時間。在硬件設備上我們主要采用了鋼板作為底座和中空的碳纖維作為擺桿 。s Pink Revolution, an annual campaign that seeks to raise awareness and funds for breast cancer research, the hotel recently announced. A major sponsor of the campaign for three years in a row, Conrad Macao has pledged to donate a portion of its proceeds to the fund, includ ing those collected from selling its popular bear and rubber duck merchandise, in limited pink editions. Pink is the theme for floral arrangements and decorations in the hotel in October. In addition, on Fridays that month, members of the management and staff will add something pink to their uniforms, regular s and handwritten guest cards. Breast cancer is the most prevalent type of cancer among women in Hong Kong and is also of significant concern in Macao and around the world, regardless of age, general manager Bede Barry said in a statement. The hotel has enlisted the support of a number of international and local celebrities to help drive the cause, including South Korean actor Jung Suk Won. This year, a lucky guest who stays at the hotel during the campaign and also donates money for the cause will win a necklace specially designed by Arte Madrid, a Spanish jewelry brand. Women should strive to balance quality of work and life, and have children at a young age. As a doctor I see much suffering because of this imbalance. Xiao Ying, 36, works for a large law firm. Her job means lots of travel, a heavy caseload and a large number of meetings, so her schedule is hectic. She has been pregnant twice, but had abortions on both occasions because she felt her busy, highpressure career wasn39。t hesitate to resign from a fivestar hotel to work in the new restaurant with just five chefs, eager to explore the excitement of a life that had yet to unfold. Since that Shanghai launch, Blue Frog has opened 24 branches in seven cities across China, including Beijing, Tianjin, Chongqing and Nanjing in Jiangsu province. The new menu for this fall, which was launched in early September, showcases how flavors of East and West meet to create a variety of delicious burgers and other entrees in the cozy, softlit restaurants. I liked the mapo burger best. Just imagine the flavorful bination of the hot, mildly numbspicy mapo tofu sauce and grilled 100percent Australian beef patty, along with a slice of cheddar cheese and a side of french fries. The savory sauce helped highlight the patty39。s smoggy days. If the smog is severe, I39。 表 56 在倒立狀態(tài)下旋轉(zhuǎn)臂旋轉(zhuǎn) 360 度 測試次數(shù) 1 2 3 4 5 6 7 8 旋轉(zhuǎn)臂轉(zhuǎn)過 360 度時間（ s） 5 5 5 5 5 5 5 5 測試分析與結(jié)論 根據(jù)上述測試數(shù)據(jù)， 該系統(tǒng)基本上能夠達到旋轉(zhuǎn)倒立平衡的狀態(tài)但由于機械結(jié)果的原因有一些誤差 ，由此 可以得出以下 結(jié)論 ： 電機的性能不是很理想，聯(lián)軸器有些松動，長時間運行兩者有些脫節(jié)，起振達到平衡很困難， 雙環(huán)控制需要時間上的配合，加入的時間和參數(shù)很重要。在實現(xiàn)其它功能的時候需要將單片機復位并重新運行程序。 由于考慮的連軸的摩擦力，轉(zhuǎn)動時收到的空氣阻力則設總的外力為 ??，外部接線對擺桿的干擾力等等，增加一個阻尼力，使得上式變?yōu)椋? 0ta na g f? ? ? (311 ) 在算出角速度的控制范圍之后，需要確定單片機提供的相應的控制量。但對于電機的程序控制，是通過檢測反饋信號到單片機的擺桿擺動的角度，然后單片機輸出 PWM 來調(diào)節(jié)脈沖寬度進而控制一個小的加速度給電機，這個加速度使擺桿向反方向擺動更大的角度。 帶速度閉環(huán)的直流電機 我們對于直流電機的數(shù)學模型較為熟悉，而且能夠比較精確地控制位置速度、加速度，只要在選