CN204215226U - A kind of rotary inverted pendulum surely puts controller - Google Patents
A kind of rotary inverted pendulum surely puts controller Download PDFInfo
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- CN204215226U CN204215226U CN201420522068.1U CN201420522068U CN204215226U CN 204215226 U CN204215226 U CN 204215226U CN 201420522068 U CN201420522068 U CN 201420522068U CN 204215226 U CN204215226 U CN 204215226U
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Abstract
The utility model discloses a kind of rotary inverted pendulum and surely put controller, comprise main control chip, driving circuit and signal processing circuit.Main control chip is XE164FN, is responsible for the Electric Machine Control of system, flux estimate algorithm and signal sampling and processing motor; Driving circuit form full-bridge circuit by mosfet; Respectively there is a potentiometer at the swingle of inverted pendulum and fork place, the analog angle utilizing the digital-to-analog conversion part of single-chip microcomputer to be collected by potentiometer converts digital angle to, angle and the angular velocity of swingle and fork can be obtained through computing, and then angle and angular velocity signal are brought in control algolithm and can obtain controlled quentity controlled variable, then utilize capture compare unit controlled quentity controlled variable to be converted to pwm signal and control motor, achieve rotary inverted pendulum automatically rise pendulum with surely put control.
Description
Art
the utility model relates to one and surely puts controller, and a kind of rotary inverted pendulum especially controlled based on energy back and BVP algorithm surely puts controller.
Background technology
reversible pendulum system is the typical research object typical multivariate in modern control theory research, unstable nonlinear system.It is simple that inverted pendulum has structure, feature with low cost, and various method easy to use controls, and is the focus in control theory and real application research, is often used to detection control method.Because reversible pendulum system is also unstable, so its stability is the typical problem in control theory always.It is as an experimental provision in control theory, and with low cost, structure is simple, can realize multiple different control mode; Inverted pendulum, as a controlled device, is again relative complex, and inverted pendulum is unstable, multivariate and nonlinear system, after taking effective control method, inverted pendulum only just can be made to stablize.The control effects of reversible pendulum system can embody very intuitively by his stability, also by fork angle, swingle angle and directly can measure stabilization time, the experiment effect of inverted pendulum is more directly perceived, can by the correctness of inverted pendulum access control Theories and methods and practicality after new control theory and method occur, or and other control theory and method compare.
simple reversible pendulum system is product comparatively ripe in modern control theory teaching, and in the laboratory of each colleges and universities, reversible pendulum system is indispensable experimental facilities substantially.Many typical multiple entry systems, such as, many-sided problem perhaps in reversible pendulum system model foundation, optimized control and the control theory such as POLE PLACEMENT USING, nonlinear system can be tested with reversible pendulum system.Reversible pendulum system seems relatively simple for structure, and be but unstable, a uppity system, one-stage inverted pendulum phase relation control difficulty is less.When controlling complicated reversible pendulum system, by introducing artificial intelligence, as fuzzy control and ANN (Artificial Neural Network) Control, can effectively simplify and operate, in more complicated Control System of Inverted Pendulum, serve larger effect.
Utility model content
a kind of rotary inverted pendulum surely puts controller, it is characterized in that: this system is made up of main control chip, inverted pendulum, driving circuit and signal processing circuit.
described main control chip is XE164FN, is responsible for the Electric Machine Control of system, flux estimate algorithm and signal sampling and processing motor; Described driving circuit form full-bridge circuit by mosfet; Described inverted pendulum is provided with swingle and fork, and respectively there is a potentiometer at swingle and fork place.The analog angle utilizing the digital-to-analog conversion part of single-chip microcomputer to be collected by potentiometer converts digital angle to, angle and the angular velocity of swingle and fork can be obtained through computing, and then angle and angular velocity signal are brought in control algolithm and can obtain controlled quentity controlled variable, then utilize capture compare unit controlled quentity controlled variable to be converted to pwm signal and control motor, achieve rotary inverted pendulum automatically rise pendulum with surely put control.
the purpose of this utility model is that designing a kind of rotary inverted pendulum surely puts controller.The design by carrying out data acquisition to the location status of inverted pendulum, then carries out speed governing to motor, realizes the control to reversible pendulum system position.
the beneficial effects of the utility model: this utility model is for rotary inverted pendulum, and design is a kind of to be played pendulum and surely puts controller, and structure is simple and convenient, is easy to realize.
Accompanying drawing explanation
fig. 1 is system principle structural drawing of the present utility model;
fig. 2 is system program process flow diagram of the present utility model;
fig. 3 is signal processing circuit schematic diagram;
fig. 4 is power driving circuit figure schematic diagram.
Embodiment
below in conjunction with accompanying drawing, principle of the present utility model and concrete annexation are described in more detail:
composition graphs 1, Fig. 1 is system principle structural drawing of the present utility model; The utility model comprises main control chip, driving circuit and signal processing circuit.Main control chip is XE164FN, is responsible for the Electric Machine Control of system, flux estimate algorithm and signal sampling and processing motor; Driving circuit form full-bridge circuit by mosfet; Respectively there is a potentiometer at the swingle of inverted pendulum and fork place, the analog angle utilizing the digital-to-analog conversion part of single-chip microcomputer to be collected by potentiometer converts digital angle to, angle and the angular velocity of swingle and fork can be obtained through computing, and then angle and angular velocity signal are brought in control algolithm and can obtain controlled quentity controlled variable, then utilize capture compare unit controlled quentity controlled variable to be converted to pwm signal and control motor, achieve rotary inverted pendulum automatically rise pendulum with surely put control.
fig. 2 is system program process flow diagram of the present utility model.When starting the initialization carrying out system after system electrification, mainly comprising PWM and exporting the initialization arranging, interrupt setting, set timer, the setting of I/O interface, ADC setting; Then code-disc measured angular displacement, and angular displacement signal is passed to digital signal processing module; According to the size of angular displacement, digital signal processing module judges that rotary inverted pendulum has carried out pendulum or surely put; Finally by Single-chip Controlling PWM module, motor is driven, completed pendulum or surely swung work.
composition graphs 3 and Fig. 4, they are partial circuit schematic diagrams of system.Fig. 3 is signal processing circuit schematic diagram, and the angle signal of inverted pendulum swingle and fork is obtained by the voltage acquisition of ADC module to potentiometer, outputs signal and enters in single-chip microcomputer analog to digital converter through conditioning, comprises signal and amplifies and filtering; Fig. 4 is power driving circuit figure schematic diagram, and circuit output end VCC voltage is 15V, and input signal vdd voltage is 5V, C6, C7 is bootstrap capacitor, capacitance is 1uf, D1, D2 prevent high voltage enter circuit export VCC cause wafer damage.
Claims (1)
1. rotary inverted pendulum surely puts a controller, it is characterized in that: be made up of main control chip, inverted pendulum, driving circuit and signal processing circuit; Described main control chip is XE164FN, is responsible for the Electric Machine Control of system, flux estimate algorithm and signal sampling and processing motor; Described driving circuit form full-bridge circuit by mosfet; Described inverted pendulum is provided with swingle and fork, and respectively there is a potentiometer at swingle and fork place.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420522068.1U CN204215226U (en) | 2014-09-12 | 2014-09-12 | A kind of rotary inverted pendulum surely puts controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420522068.1U CN204215226U (en) | 2014-09-12 | 2014-09-12 | A kind of rotary inverted pendulum surely puts controller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204215226U true CN204215226U (en) | 2015-03-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201420522068.1U Expired - Fee Related CN204215226U (en) | 2014-09-12 | 2014-09-12 | A kind of rotary inverted pendulum surely puts controller |
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| CN (1) | CN204215226U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104267666A (en) * | 2014-09-12 | 2015-01-07 | 哈尔滨恒誉名翔科技有限公司 | Steady oscillating controller of annular inverted pendulum |
| CN104965120A (en) * | 2015-06-12 | 2015-10-07 | 陕西宝成航空仪表有限责任公司 | Potentiometer employing digital circuit to simulate multi-brush output |
| CN108427321A (en) * | 2018-03-15 | 2018-08-21 | 浙江工业大学 | Inexpensive inverted pendulum HWIL simulation experiment porch based on SSH agreements |
-
2014
- 2014-09-12 CN CN201420522068.1U patent/CN204215226U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104267666A (en) * | 2014-09-12 | 2015-01-07 | 哈尔滨恒誉名翔科技有限公司 | Steady oscillating controller of annular inverted pendulum |
| CN104965120A (en) * | 2015-06-12 | 2015-10-07 | 陕西宝成航空仪表有限责任公司 | Potentiometer employing digital circuit to simulate multi-brush output |
| CN108427321A (en) * | 2018-03-15 | 2018-08-21 | 浙江工业大学 | Inexpensive inverted pendulum HWIL simulation experiment porch based on SSH agreements |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20151125 Address after: 100068 Beijing city Fengtai District West Pacific No. 27 building 3 room 310 Patentee after: Beijing Kang Xinhua Energy Environment Technology Co Ltd Address before: 703, room 258, ship building, 150001 Nantong street, Harbin, Heilongjiang Patentee before: Harbin Hengyu Mingxiang Technology Co., Ltd. |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150318 Termination date: 20180912 |