CN203838951U - Automatic rotating inverted pendulum device based on ARM - Google Patents
Automatic rotating inverted pendulum device based on ARM Download PDFInfo
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- CN203838951U CN203838951U CN201420274904.9U CN201420274904U CN203838951U CN 203838951 U CN203838951 U CN 203838951U CN 201420274904 U CN201420274904 U CN 201420274904U CN 203838951 U CN203838951 U CN 203838951U
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- inverted pendulum
- arm
- device based
- pendulum device
- automatic rotating
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Abstract
The utility model relates to an automatic rotating inverted pendulum device based on ARM. The research and realization of the control problem of an inverted pendulum not only have deep theoretical significance, but also have important engineering background, so the inverted pendulum can provide an effective device for verifying the feasibility of the control strategy and method of the inverted pendulum so as to detect the realization effectiveness and real-time performance of control laws. The automatic rotating inverted pendulum device based on ARM comprises a control box (10) and a stand column (9). The stand column is connected with a rotation arm (1) through a rotation shaft A (2). The rotation arm is connected with a swing rod (4) through a rotation shaft B (3). The upper end of the stand column is equipped with a hollow cup speed reducer (6). The hollow cup speed reducer is connected with a motor (7). The motor is connected with a motor driver (8). The swing rod is equipped with a rotary encoder (5). The automatic rotating inverted pendulum device is applied to the automatic rotating inverted pendulum device based on the ARM.
Description
technical field:
the utility model relates to a kind of automatic rotation inverted pendulum device.
background technology:
inverted pendulum control problem is known as typical control problem in control theory.In actual life, the acrobatics push rod of regarding as that can be vivid is performed, the stability of its physical mechanism and control system is closely related, it has profoundly disclosed a kind of fundamemtal phenomena of nature, an i.e. naturally unsettled controlled device, the intuition by people, control device qualitatively. just can there is good stability.The research of the control problem of inverted pendulum and realization not only have its deep theory significance, also have important engineering background.Therefore, inverted pendulum can be for verifying that the feasibility of its control strategy and method provides effective device, with validity and the real-time of checking control law to realize.It is a kind of physical model of widespread use, and the theoretical method producing of inverted pendulum control and technology will have wide exploitation prospect at aspects such as semiconductor and exact instrument processing, Robotics, missile intercept control system, aircraft docking control technologys.Verticality control in arrow transmitting and the attitude control in satellite flight etc.
we know, the development of embedded technology is maked rapid progress, traditional reversible pendulum system. the object that can not well reach a good antijamming capability and realize fast balance.
summary of the invention:
the purpose of this utility model is to provide a kind of automatic rotation inverted pendulum device based on ARM.
above-mentioned object realizes by following technical scheme:
a kind of automatic rotation inverted pendulum device based on ARM, its composition comprises: control box, column, described column is connected with pivot arm by rotation axis A, described pivot arm is connected with fork by rotation axis B, described column upper end is provided with drag cup reductor, and described drag cup reductor is connected with motor, and described motor is connected with motor driver.
the described automatic rotation inverted pendulum device based on ARM, on described fork, rotary encoder is installed, the built-in K60 processor of described control box, described K60 processor is connected with power supply, motor driver, keyboard, rotary encoder, TFT liquid crystal display, TTS voice plate respectively, and described rotary encoder is Omron two-phase output E6A2-CW3C 500 line rotary encoders.
the beneficial effects of the utility model:
1. the utility model has solved the problem of the desirable experiment porch of neither one in control theory study.Column of the present utility model is connected with pivot arm by rotation axis, and described pivot arm is connected with fork by rotation axis, has formed brand-new demonstrating model structure, intuitively and completely meets teaching demonstration requirement.In described column upper end, drag cup reductor is installed, is realized the experiment effect of best model.
the utility model can be processed the data of sensor feedback by the high speed processor of external K60 Chip Microcomputer A RM, makes rapidly action feedback.The device speed that restores balance is fast.For an automatic rotation inverted pendulum platform of being controlled by ARM flush bonding processor, can by buying different chips, form more powerful compiling platform in laboratory, realize more experimental demonstration.
accompanying drawing explanation:
accompanying drawing 1 is structural representation of the present utility model.
accompanying drawing 2 is structural representations of control box in accompanying drawing 1.
accompanying drawing 3 is K60 single-chip microcomputer pinoutss of the present utility model.
accompanying drawing 4 is circuit theory diagrams of power module of the present utility model.
accompanying drawing 5 is firsts of the circuit theory diagrams of motor driver of the present utility model.
accompanying drawing 6 is second portions of the circuit theory diagrams of motor driver of the present utility model.
embodiment:
embodiment 1:
a kind of automatic rotation inverted pendulum device based on ARM, its composition comprises: control box 10, column 9, described column is connected with pivot arm 1 by rotation axis A2, described pivot arm is connected with fork 4 by rotation axis B3, described column upper end is provided with drag cup reductor 6, and described drag cup reductor is connected with motor 7, and described motor is connected with motor driver 8.
embodiment 2:
according to the automatic rotation inverted pendulum device based on ARM described in embodiment 1, rotary encoder 5 is installed on described fork, the built-in K60 processor 15 of described control box, described K60 processor is connected with power module 14, motor driver, keyboard 11, rotary encoder, TFT liquid crystal display 12, TTS sound card 13 respectively, and described rotary encoder is Omron two-phase output E6A2-CW3C 500 line rotary encoders.
Claims (2)
1. the automatic rotation inverted pendulum device based on ARM, its composition comprises: control box, column, it is characterized in that: described column is connected with pivot arm by rotation axis A, described pivot arm is connected with fork by rotation axis B, described column upper end is provided with drag cup reductor, and described drag cup reductor is connected with motor, and described motor is connected with motor driver.
2. the automatic rotation inverted pendulum device based on ARM according to claim 1, it is characterized in that:, on described fork, rotary encoder is installed, the built-in K60 processor of described control box, described K60 processor is connected with power supply, motor driver, keyboard, described rotary encoder, TFT liquid crystal display, TTS sound card respectively, and described rotary encoder is Omron two-phase output E6A2-CW3C 500 line rotary encoders.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420274904.9U CN203838951U (en) | 2014-05-28 | 2014-05-28 | Automatic rotating inverted pendulum device based on ARM |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420274904.9U CN203838951U (en) | 2014-05-28 | 2014-05-28 | Automatic rotating inverted pendulum device based on ARM |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203838951U true CN203838951U (en) | 2014-09-17 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420274904.9U Expired - Fee Related CN203838951U (en) | 2014-05-28 | 2014-05-28 | Automatic rotating inverted pendulum device based on ARM |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203838951U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105388818A (en) * | 2015-12-28 | 2016-03-09 | 哈尔滨恒誉名翔科技有限公司 | Rotary inverted pendulum |
| CN105511501A (en) * | 2015-12-31 | 2016-04-20 | 南京信息工程大学 | Rotary type inverted pendulum with counterweight |
| CN106239491A (en) * | 2016-08-30 | 2016-12-21 | 江苏华航威泰机器人科技有限公司 | A kind of robotically-driven actuator of inverted pendulum |
| CN108288429A (en) * | 2018-02-09 | 2018-07-17 | 王利河 | A kind of space flight demo system and its control method |
-
2014
- 2014-05-28 CN CN201420274904.9U patent/CN203838951U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105388818A (en) * | 2015-12-28 | 2016-03-09 | 哈尔滨恒誉名翔科技有限公司 | Rotary inverted pendulum |
| CN105511501A (en) * | 2015-12-31 | 2016-04-20 | 南京信息工程大学 | Rotary type inverted pendulum with counterweight |
| CN106239491A (en) * | 2016-08-30 | 2016-12-21 | 江苏华航威泰机器人科技有限公司 | A kind of robotically-driven actuator of inverted pendulum |
| CN108288429A (en) * | 2018-02-09 | 2018-07-17 | 王利河 | A kind of space flight demo system and its control method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140917 Termination date: 20150528 |
|
| EXPY | Termination of patent right or utility model |