胡紫伟-机电092-运动倒立摆实验系统硬件设计-论文.doc

运动倒立摆实验系统硬件设计 摘要 倒立摆系统是非线性、强耦合、多变量和自然不稳定的系统，是机器人技术、控制理论、计算机控制等多个领域、多种技术的有机结合。在控制过程中，它能有效地反映诸如可镇定性、鲁棒性、随动性以及跟踪等许多控制中的关键问题，是检验各种控制理论的理想模型。控制器的设计是倒立摆系统的核心内容。目前典型的控制器设计理论有PID控制、根轨迹以及频率响应法、状态空间法、最优控制理论等。 本文主要介绍了运动倒立摆实验系统的硬件设计方案。此方案采用ATmega328P作为核心控制器，在此基础上增加了各种接口电路板组成整个硬件系统，包括单片机最小系统，姿态检测模块，直流驱动电机控制模块，电源管理模块，测速编码模块，串口调试等模块。本文先基本阐述了系统方案原理，再分别就各模块工作原理进行详细的介绍与分析，最终完成车模的制作和电路原理图以及PCB板的绘制。最后根据调试情况对整个系统做了修改，基本达到设计要求。 关 键 词：SPORTS INWERTED PENDULUM SYSTEM HARDWARE DESIGN ABSTRACT Inverted pendulum system is non-linear, strong coupling, multivariable and natural unstable system, robotics, control theory, computer control and other fields, the combination of a variety of technologies. In the control process, as it can effectively reflect the calm, robustness, with the dynamic nature, and tracking control in many of the key issues is to test a variety of control theory, the ideal model. Controller design is the core content of the inverted pendulum system. Typical current controller design theory PID control, root locus and frequency response method, the state space method, optimal control theory. This paper describes the control system hardware design of the wheel balanced car. This program uses ATmega328 as the core controller,base on this increase of various interface circuit board to building the hardware system. Peripheral circuits including the smallest single-chip system, the gesture detection module, the DC drive motor control module, power management module, velocity encoding module and serial debugging module. This article first describes the principle of the system program，then described in detail each module how to working out, the final completion of car models produced and circuit schematics and the PCB drawing.In the end, according to debug the situation on the whole system changes, the hardware system basically reached the design requirements. KEY WORDS：Inverted pendulum,modular design,arduino,sensor前 言 1 第1章 绪 论 2 §1.1 设计的依据与意义 2 §1.2 国内外同类设计的概况综述 3 §1.3 设计要求与内