基于单片机的一级倒立摆控制器设计(刘童)

湖南文理学院课程设计报告课程名称：专业课程设计专业班级：自动化11101班学号39学生姓名：刘童指导教师：王文虎完成时间：2014年6月12日报告成绩：评阅意见：评阅教师日期基于单片机的一级倒立摆控制器设计I摘要直线一级倒立摆，是由沿直线导轨运动的小车以及一端固定于小车的匀质长杆组成的非线性的、不稳定的系统。系统以C8051F020单片机为主控芯片，包括电源模块、高精度电位器检测模块、L298N电机驱动模块、直流减速电机以及倒立摆本体构成。由高精度电位器检测模块测得小车的位置和摆杆相对垂直方向的角度，作为系统的两个输出量被反馈至单片机。单片机根据PID控制算法，计算出控制量，并转化为相应的电压信号提供给驱动电路，以驱动直流减速电机的运动，从而通过牵引机构带动小车的移动来控制摆杆和保持平衡。借助倒立摆的数学模型加入PID调节来控制它，从而使其成为稳定的系统，通过Matlab对仿真效果的分析，基本上达到了预期的效果。关键词一级倒立摆；微处理器；增量式PID；伺服电机；Matlab基于单片机的一级倒立摆控制器设计IIAbstractLinearinvertedpendulumsystem,isthemovementofthecarriagealongthelinearguiderailisfixedonthetrolleyandtheuniformityoflongrodcomposedofnonlinear,unstable.ThesystemismainlycontrolledbythemicrocontrollerC8051F020,whichcomprisesapowersupplymodule,highprecisionpotentiometerdetectionmodule,L298Nmotordrivemodule,DCmotorandtheinvertedpendulum.Ahighprecisionpotentiometerdetectionmodulemeasuredtrolleypositionandpendulumrelativeverticalangles,asthetwooutputsystemisfeedbacktothemicrocontroller.SCMbasedonPIDcontrolalgorithm,calculatesthevolumecontrol,andtoprovideacorrespondingvoltagesignaltothedrivecircuittodriveDCmotor,motor,andthroughthetractionmechanismtodrivethecartocontrolthemovementandbalance.WiththehelpofamathematicalmodelofinvertedpendulumwithPIDregulationtocontrolit,sothatitbecomesastablesystem,throughtheanalysisofthesimulationresultsoftheMatlab,basicallyachievedtheexpectedresults.Keywords：aninvertedpendulum;microprocessor;incrementalPID;servomotor;Matlab基于单片机的一级倒立摆控制器设计III目录摘要...............................................................................................................................................IAbstract.........................................................................................................................................II第一章绪论...................................................................................................................................11.1设计要求..........................................................................................................................11.2方案设计...........................................................................................................................11.2.1光电编码检测.......................................................................................................21.2.2高精度电位器检测...............................................................................................21.2.3方案论证................................................................................................................2第二章一阶倒立摆的数学建模...................................................................................................42.1倒立摆模型抽象..............................................................................................................42.1.1倒立摆微分方程模型...........................................................................................42.1.2倒立摆的传递函数模型.......................................................................................52.2一阶倒立摆的状态空间模型...........................................................................................6第三章基于Matlab的倒立摆PID分析及仿真.........................................................................83.1一级倒立摆模型...............................................................................................................83.1.1一级倒立摆实际参数...........................................................................................83.1.2系统阶跃响应分析................................................................................................93.2一阶倒立摆PID控制器设计.........................................................................................103.2.1PID概述..............................................................................................................103.2.2PID参数设定......................................................................................................113.3MATLAB仿真...................................................................................................................123.3.1MATLAB简述........................................................................................................123.3.2MATLAB仿真应用................................................................................................14第四章一级倒立摆硬件电路设计.............................................................................................194.1单片机最小系统.............................................................................................................194.2高精度电位器检测模块.................................................................................................194.3L298N电机驱动模块.....................................................................................................194.4电源模块.........................................................................................................................20第五章一级倒立摆软件设计.....................................................................................................215.1主程序设计...........................................................................................................