现代电子技术
現代電子技術
현대전자기술
MODERN ELECTRONICS TECHNIQUE
2014年
14期
135-137
,共3页
旋转倒立摆%ATmega16%BTS7970%伺服电机%PID算法
鏇轉倒立襬%ATmega16%BTS7970%伺服電機%PID算法
선전도립파%ATmega16%BTS7970%사복전궤%PID산법
rotational inverted pendulum%ATmega16%BTS7960%servo motor%PID algorithm
对简易旋转倒立摆的各个模块做了相关介绍,对系统的实现方案和设计步骤进行描述。采用ATmega16单片机作为主控元件,以BTS7960模块作为驱动器,使用直流伺服电机作为驱动电机。采用增量式PID算法控制摆杆达到稳定,对摆杆所处位置的角度进行分段,然后采用分段PID算法进行控制,以使摆杆快速趋于稳定状态,得到良好的控制效果。
對簡易鏇轉倒立襬的各箇模塊做瞭相關介紹,對繫統的實現方案和設計步驟進行描述。採用ATmega16單片機作為主控元件,以BTS7960模塊作為驅動器,使用直流伺服電機作為驅動電機。採用增量式PID算法控製襬桿達到穩定,對襬桿所處位置的角度進行分段,然後採用分段PID算法進行控製,以使襬桿快速趨于穩定狀態,得到良好的控製效果。
대간역선전도립파적각개모괴주료상관개소,대계통적실현방안화설계보취진행묘술。채용ATmega16단편궤작위주공원건,이BTS7960모괴작위구동기,사용직류사복전궤작위구동전궤。채용증량식PID산법공제파간체도은정,대파간소처위치적각도진행분단,연후채용분단PID산법진행공제,이사파간쾌속추우은정상태,득도량호적공제효과。
Each module of simple rotary inverted pendulum is introduced in this paper. The realization scheme and design procedure of the system are described,in which ATmega16 micro controller is used as the main control element,the BTS7960 module as the driver and the DC servo motor as driving motor. The incremental PID algorithm is adopted to control the swing rod to stabilize the pendulum. The angle of place where the swing rod locates is segmented,and then the segmentation PID algo-rithm is employed to control the swing rod,so as to make the swing rod to verge to a steady state quickly,and obtain the good control effect.