| 基于DSP的两轮式倒立摆自平衡控制系统 |
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| 引用本文： | 张华宾,张培仁,李昊华,许波,杨天宝.基于DSP的两轮式倒立摆自平衡控制系统[J].测控技术,2007,26(11):23-26. |
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| 作者姓名： | 张华宾 张培仁 李昊华 许波 杨天宝 |
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| 作者单位： | 中国科学技术大学,自动化系,安徽,合肥,230027;中国科学技术大学,自动化系,安徽,合肥,230027;中国科学技术大学,自动化系,安徽,合肥,230027;中国科学技术大学,自动化系,安徽,合肥,230027;中国科学技术大学,自动化系,安徽,合肥,230027 |
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| 摘 要： | 应用动力学理论的拉格朗日方程对两轮式倒立摆自平衡控制系统进行系统分析和数学建模,并基于状态反馈等控制理论对控制系统进行仿真,实现了基于DSP的软件控制,使系统在各种运动状态下保持平衡.两轮式自平衡控制系统已经初步实现自平衡,以及行走等功能.
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| 关 键 词： | 两轮式倒立摆 自平衡控制系统 DSP 状态空间方程 |
| 文章编号： | 1000-8829（2007）11-0023-04 |
| 修稿时间： | 2006-12-02 |
Two-Wheel Inverted Pendulum Self-Balance Control System Based on DSP |
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| ZHANG Hua-bin,ZHANG Pei-ren,LI Hao-hua,XU Bo,YANG Tian-bao.Two-Wheel Inverted Pendulum Self-Balance Control System Based on DSP[J].Measurement & Control Technology,2007,26(11):23-26. |
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| Authors: | ZHANG Hua-bin ZHANG Pei-ren LI Hao-hua XU Bo YANG Tian-bao |
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| Affiliation: | Department of Automation, University of Science and Technology of China, Hefei 230027, China |
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| Abstract: | By using dynamics theory and method,the mechanics principle of two wheel inverted pendulum system can be analysed and the mathematical model can be established.On the basis of automation control theory of state feedback,simulation has been done and the software control is realized with DSP.The two-wheel self-balance control system already has the ability to keep balance whenever still or running. |
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| Keywords: | two-wheel inverted pendulum self-balance contol system DSP state space equation |
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