CAJ | 학술논문

针对一个自行制作的跷跷板控制系统，研究其自平衡控制的方法。控制系统采用的CPU是AT89C51，通过光电传感器来检测跷跷板系统的平衡状况，采用改进后的PlD算法进行控制，利用单片机输出PWM信号控制s3010舵机的转动，舵机带动重锤转动调节跷跷板系统的重心，能够使跷跷板系统在任意设定位置达到动态平衡。
침대일개자행제작적교교판공제계통，연구기자평형공제적방법。공제계통채용적CPU시AT89C51，통과광전전감기래검측교교판계통적평형상황，채용개진후적PlD산법진행공제，이용단편궤수출PWM신호공제s3010타궤적전동，타궤대동중추전동조절교교판계통적중심，능구사교교판계통재임의설정위치체도동태평형。
This paper is mainly focus on the methods and processes to control an adaptive control system of a self-designed seesaw.More specifical y,the AT89C51 is selected as the chip in the control ing system and the photoelectric sensor is used to detect the balance of the seesaw system.The control signal calculated by the improved PlD algorithm,wil be transformed into a typical PWM signal to control rotation angle of the Servo S3010.Then,the rotation of the servo leads to a heavy punch's movement to adjust the center of mass of this seesaw system.