CN105388818A - Rotary inverted pendulum - Google Patents
Rotary inverted pendulum Download PDFInfo
- Publication number
- CN105388818A CN105388818A CN201510994839.6A CN201510994839A CN105388818A CN 105388818 A CN105388818 A CN 105388818A CN 201510994839 A CN201510994839 A CN 201510994839A CN 105388818 A CN105388818 A CN 105388818A
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- CN
- China
- Prior art keywords
- chip microcomputer
- motor
- inverted pendulum
- liquid crystal
- conversion module
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25341—Single chip programmable controller
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
A rotary inverted pendulum comprises a single-chip microcomputer, an angle sensor, an A/D conversion module, an OLED liquid crystal screen, a nixie tube, a motor drive and isolation mode, a DC moment motor, and a dial switch. The angle sensor is connected to the A/D conversion module. The A/D conversion module is connected to the single-chip microcomputer. The single-chip microcomputer is connected to the dial switch, and is also connected to and controls the nixie tube, the OLED liquid crystal screen and the motor drive and isolation mode. The motor drive and isolation mode is connected to the DC moment motor. The rotary inverted pendulum has a noticeable and great control effect, enables some obtained information to be displayed on the OLED liquid crystal screen, has a proper human computer interface function, and allows people to visually view an angle obtained from a precision encoding disk.
Description
Technical field
the present invention relates to a kind of scientific research and testing device, particularly relate to a kind of Single-Rotational Inverted Pendulum.
Background technology
in the last few years, Theory of Automatic Control development rapidly, reached its maturity to a certain control theory, and its accuracy and the operability being applied to practice should handle a special object by Theory of Automatic Control method for designing.Such as, arm-driven inverted pendulum system just with multivariate, quick, non-linear etc. for principal feature, is carrying out it feeding back practical problems in actual production control.Arm-driven inverted pendulum system has stability intuitively, and control effects is remarkable and considerable, and in experimentation, effect clearly.When we are as at all, and on the basis of Single-Rotational Inverted Pendulum theoretical validation, itself and emerging control theory can be compared, thus be obtained lively abundant experimentation.Make a general survey of all experimental provisions, Single-Rotational Inverted Pendulum is with visual in image, structure is simple, component formed shape and parameter are easy to change and gain great popularity, but for controlled device, it realize structure and purposes unusual complexity again, this just requires that we must take effective method just can make it stable.Therefore, the using value of Single-Rotational Inverted Pendulum is apparent.
Summary of the invention
the object of this invention is to provide a kind of Single-Rotational Inverted Pendulum, control effects is remarkable and considerable, by some obtained information displaying in OLED screen, and can carry out the suitable function realizing man-machine interface, can see the angle display that accurate code-disc obtains very intuitively.
object of the present invention is achieved through the following technical solutions:
a kind of Single-Rotational Inverted Pendulum, is driven formed with isolation module, direct current torque motor, toggle switch by single-chip microcomputer, angular transducer, A/D conversion module, OLED liquid crystal screen, charactron, motor; Described angular transducer connects A/D conversion module, described A/D conversion module connects single-chip microcomputer, described single-chip microcomputer connects toggle switch, and described single-chip microcomputer connection control, charactron, OLED liquid crystal screen, motor drive and isolation module, and described motor drives and is connected direct current torque motor with isolation module.
described single-chip microcomputer is the K60 single-chip microcomputer of Freescale company.
described a kind of Single-Rotational Inverted Pendulum, its principle of work is: first by angular transducer, the angle signal obtained is sent to A/D modular converter, data after converted are sent to single-chip microcomputer by A/D modular converter, single-chip microcomputer is decoded to return data sampling processing by inner orthogonal, different patterns is inputted to single-chip microcomputer, Single-chip Controlling charactron and liquid crystal display current state by toggle switch; Single-chip microcomputer transmits a signal to motor driving and isolation module by inner pid algorithm simultaneously, and electrical equipment drives and direct current generator will be driven to rotate with isolation module.
beneficial effect of the present invention: the present invention utilizes the Single-Rotational Inverted Pendulum of torque motor and code-disc (taking measurement of an angle), direct current torque motor is coaxially connected with code-disc, code-disc is utilized to record revolution and the rotating speed of current motor, utilize A/D module that the signal of code-disc is transformed digital quantity, this inverted pendulum is mainly master control core parts with arm processor; By ARM inner integrated quadrature decoder (FTM), the signal that A/D returns is sampled, and process.Secondly use classical pid algorithm to obtain the input of motor, utilize arm processor to input to motor and drive, reach and control the effect of fork in equilibrium position; By some obtained information displaying in OLED screen, and carry out the suitable function realizing man-machine interface, the angle display that accurate code-disc obtains can be seen very intuitively.
Accompanying drawing explanation
fig. 1 is one-piece construction schematic diagram of the present invention;
fig. 2 is operational flow diagram of the present invention.
Embodiment
below in conjunction with accompanying drawing, the present invention is described in further detail.
embodiment 1
a kind of Single-Rotational Inverted Pendulum, is driven formed with isolation module, direct current torque motor, toggle switch by single-chip microcomputer, angular transducer, A/D conversion module, OLED liquid crystal screen, charactron, motor; Described angular transducer connects A/D conversion module, described A/D conversion module connects single-chip microcomputer, described single-chip microcomputer connects toggle switch, and described single-chip microcomputer connection control, charactron, OLED liquid crystal screen, motor drive and isolation module, and described motor drives and is connected direct current torque motor with isolation module.
embodiment 2
described single-chip microcomputer is the K60 single-chip microcomputer of Freescale company.
embodiment 3
described a kind of Single-Rotational Inverted Pendulum, its principle of work is: first by angular transducer, the angle signal obtained is sent to A/D modular converter, data after converted are sent to single-chip microcomputer by A/D modular converter, single-chip microcomputer is decoded to return data sampling processing by inner orthogonal, different patterns is inputted to single-chip microcomputer, Single-chip Controlling charactron and liquid crystal display current state by toggle switch; Single-chip microcomputer transmits a signal to motor driving and isolation module by inner pid algorithm simultaneously, and electrical equipment drives and direct current generator will be driven to rotate with isolation module.
embodiment 4
the present invention utilizes the Single-Rotational Inverted Pendulum of torque motor and code-disc (taking measurement of an angle), direct current torque motor is coaxially connected with code-disc, code-disc is utilized to record revolution and the rotating speed of current motor, utilize A/D module that the signal of code-disc is transformed digital quantity, this inverted pendulum is mainly master control core parts with arm processor; By ARM inner integrated quadrature decoder (FTM), the signal that A/D returns is sampled, and process.Secondly use classical pid algorithm to obtain the input of motor, utilize arm processor to input to motor and drive, reach and control the effect of fork in equilibrium position; By some obtained information displaying in OLED screen, and carry out the suitable function realizing man-machine interface, the angle display that accurate code-disc obtains can be seen very intuitively.
Claims (3)
1. a Single-Rotational Inverted Pendulum, is characterized in that: driven formed with isolation module, direct current torque motor, toggle switch by single-chip microcomputer, angular transducer, A/D conversion module, OLED liquid crystal screen, charactron, motor; Described angular transducer connects A/D conversion module, described A/D conversion module connects single-chip microcomputer, described single-chip microcomputer connects toggle switch, and described single-chip microcomputer connection control, charactron, OLED liquid crystal screen, motor drive and isolation module, and described motor drives and is connected direct current torque motor with isolation module.
2. a kind of Single-Rotational Inverted Pendulum according to claim 1, is characterized in that: described single-chip microcomputer is the K60 single-chip microcomputer of Freescale company.
3. a kind of Single-Rotational Inverted Pendulum according to claim 1, it is characterized in that: its principle of work is: first by angular transducer, the angle signal obtained is sent to A/D modular converter, data after converted are sent to single-chip microcomputer by A/D modular converter, single-chip microcomputer is decoded to return data sampling processing by inner orthogonal, different patterns is inputted to single-chip microcomputer, Single-chip Controlling charactron and liquid crystal display current state by toggle switch; Single-chip microcomputer transmits a signal to motor driving and isolation module by inner pid algorithm simultaneously, and electrical equipment drives and direct current generator will be driven to rotate with isolation module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510994839.6A CN105388818A (en) | 2015-12-28 | 2015-12-28 | Rotary inverted pendulum |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510994839.6A CN105388818A (en) | 2015-12-28 | 2015-12-28 | Rotary inverted pendulum |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105388818A true CN105388818A (en) | 2016-03-09 |
Family
ID=55421207
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510994839.6A Pending CN105388818A (en) | 2015-12-28 | 2015-12-28 | Rotary inverted pendulum |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105388818A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060265120A1 (en) * | 2005-04-02 | 2006-11-23 | American Gnc Corporation | Method and system for automatic stabilization and pointing control of a device |
| CN203644296U (en) * | 2014-01-17 | 2014-06-11 | 渤海大学 | Planar two-dimension freedom degree rotary inverted pendulum apparatus |
| CN104035450A (en) * | 2014-06-12 | 2014-09-10 | 杭州电子科技大学 | Rotary inverted pendulum control experiment system and control method |
| CN203838951U (en) * | 2014-05-28 | 2014-09-17 | 哈尔滨理工大学 | Automatic rotating inverted pendulum device based on ARM |
| CN203909627U (en) * | 2014-04-02 | 2014-10-29 | 孟鹏飞 | Rotary inverted pendulum based on model design |
-
2015
- 2015-12-28 CN CN201510994839.6A patent/CN105388818A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060265120A1 (en) * | 2005-04-02 | 2006-11-23 | American Gnc Corporation | Method and system for automatic stabilization and pointing control of a device |
| CN203644296U (en) * | 2014-01-17 | 2014-06-11 | 渤海大学 | Planar two-dimension freedom degree rotary inverted pendulum apparatus |
| CN203909627U (en) * | 2014-04-02 | 2014-10-29 | 孟鹏飞 | Rotary inverted pendulum based on model design |
| CN203838951U (en) * | 2014-05-28 | 2014-09-17 | 哈尔滨理工大学 | Automatic rotating inverted pendulum device based on ARM |
| CN104035450A (en) * | 2014-06-12 | 2014-09-10 | 杭州电子科技大学 | Rotary inverted pendulum control experiment system and control method |
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| WD01 | Invention patent application deemed withdrawn after publication | ||
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Application publication date: 20160309 |