CN203930517U - A kind of Single-Rotational Inverted Pendulum control experimental system - Google Patents

A kind of Single-Rotational Inverted Pendulum control experimental system Download PDF

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Publication number
CN203930517U
CN203930517U CN201420312557.4U CN201420312557U CN203930517U CN 203930517 U CN203930517 U CN 203930517U CN 201420312557 U CN201420312557 U CN 201420312557U CN 203930517 U CN203930517 U CN 203930517U
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pin
diode
chip
usb
serial port
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余善恩
陆建锋
熊伟鹏
董亦明
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Hangzhou Dianzi University
Hangzhou Electronic Science and Technology University
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Hangzhou Electronic Science and Technology University
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Abstract

The utility model relates to a kind of Single-Rotational Inverted Pendulum control experimental system.Existing Control System of Inverted Pendulum is expensive, and it is used mostly to be teacher, and student's utilization rate is low.The utility model comprises controller, motor drive module, Angle Measurement Module, PC serial communication interface, power module and PC, master controller is connected with PC by CH341 serial interface, master controller comprises CH341 serial interface, MCU module, direct current generator, LM298 driver module, high precision current potential device, LM3150 power supply chip, and the I/O interface of the MCU module in master controller is connected with CH341 serial interface, direct current generator, PC, LM298 driver module and high precision current potential device.The utlity model has operability, the advantage that simple to operate, safe, cost is low.

Description

A kind of Single-Rotational Inverted Pendulum control experimental system
Technical field
The utility model relates to automation field, is mainly a kind of Single-Rotational Inverted Pendulum control experimental system and control method.
Background technology
Inverted pendulum is owing to himself being that high-order one nonlinear system of an absolute instability, multivariate, forced coupling is widely studied, its control method is varied, has wide exploitation prospect in field of engineering technology such as partly learning body and exact instrument processing, Robot Control Technology, artificial intelligence, pin bullet interceptor control system, aviation docking control technology, rocket launching, satellite flight.For example, the problem such as attitude control in the vertical control in balance control, rocket launching that robot walks upright in process and satellite flight, and reversible pendulum system is similar, all relates to inversion problem.And the control method of inverted pendulum is processed general industry engineering for us, also there is very large reference.The automation-control experiment of automation major is generally realized based on MATLAB emulation platform, fails to combine with control object well.And classical control theory is not specifically applied on practical object, not only allow student be difficult for understanding its principle, and easily make student lose learning interest.This problem, using Single-Rotational Inverted Pendulum as experimental subjects, is more suitable for undergraduate's course teaching experiment, and research has certain novelty.
Summary of the invention
The purpose of this utility model is for university student's theoretical property is partially strong now, start the weak present situation of the ability of practice, for student provides the study Practice Platform of a classical control theory, deepen its understanding to robotization classical control theory, improve its theoretical property and put into practice manipulative ability, proposing a kind of Single-Rotational Inverted Pendulum control experimental system and control method.
A kind of Single-Rotational Inverted Pendulum control experimental system, comprises potentiometer measuring angle module, controls driver module, angle monitoring module;
Potentiometer measuring angle module is used the measuring angle module that model is WDD35D-1, when system works, is that magnitude of voltage must change by the angle of fork by potentiometer measuring angle module converts, then sends control driver module to and processes;
Control driver module and comprise serial communication circuit, MCU control circuit, power amplification circuit; Angle monitoring module comprises angle display unit and setting parameter unit;
1 pin of potentiometer measuring angle module is connected with the GND of MCU control circuit, and 2 pin are connected with the PA4 pin of MCU control circuit, and 3 pin are connected with the VCC of MCU control circuit; The RXD pin of serial communication circuit is connected with the PA9 pin of MCU control circuit, and the TXD pin of serial communication circuit is connected with the PA10 pin of MCU control circuit; The ENA pin of power amplification circuit is connected with the PB0 pin of MCU control circuit, and the IN1 pin of power amplification circuit is connected with the PD4 pin of MCU control circuit, and the IN2 pin of power amplification circuit is connected with the PD5 pin of MCU control circuit; The OUT1 of power amplification circuit is connected with the positive and negative terminal of motor with OUT2; Angle display unit is connected with the USB interface of serial communication circuit by a USB Serial Port Line with setting parameter unit;
Control driver module and receive the fork angle information from potentiometer measuring angle module, then by serial communication circuit, fork angle information is sent to the angle display unit in angle monitoring module, for showing fork angle information; Control driver module receives from input fork angle on target in setting parameter unit in angle monitoring module and controls parameter information simultaneously, and the fork angle information of this information and potentiometer measuring angle module is compared, and adopt FUZZY ALGORITHMS FOR CONTROL, after calculating current motor drive volume, regulate motor speed, fork is controlled to angle on target by final realization;
Angle initialization unit input fork angle on target information in angle monitoring module, angle monitoring module sends to the angle on target information of input the MCU control circuit of controlling in driver module, MCU control circuit calculates the dutycycle of PWM ripple according to fork angle on target and current angle gauge and produces the PWM ripple of corresponding dutycycle, by PWM ripple driving power amplifying circuit control motor speed; Angle display unit receives from the fork information of controlling driver module, for showing angle or the movement locus of fork;
Serial communication circuit comprises that a USB turns serial port chip U1, USB interface, the first crystal oscillator Y1, the first capacitor C 1, the second capacitor C 2, the 3rd capacitor C 3, the 4th capacitor C 4; It is CH341 that a described USB turns serial port chip U1 model;
6 pin that the one USB turns serial port chip chip U1 are connected with one end of the first capacitor C 1, the other end ground connection of the first capacitor C 1; The one USB turns 7 pin of serial port chip chip U1 and the D+ pin of USB interface is connected, and 8 pin are connected with the D-pin of USB interface; 9 pin that the one USB turns serial port chip U1 are connected with one end of the 4th capacitor C 4, one end of the first crystal oscillator Y1 simultaneously, and the other end of the 4th capacitor C 4 is connected and ground connection with 19 pin that a USB turns serial port chip U1; 10 pin that the one USB turns serial port chip U1 are connected with the other end of the first crystal oscillator Y1, one end of the 3rd capacitor C 3 simultaneously, the other end ground connection of the 3rd capacitor C 3; 13 pin that the one USB turns serial port chip U1 turn 20 pins of serial port chip U1 with a USB, one end of the second capacitor C 2 is connected and connects 5V voltage simultaneously; 11 pin that the one USB turns serial port chip U1 turn 12 pin of serial port chip U1 with a USB, the other end of the second capacitor C 2 is connected and ground connection; The VCC pin of USB interface connects 5V voltage, and two SHELL pin interconnect, GND pin ground connection; The one USB turns 1 pin, 2 pin, 5 pin, 14 pin, 15 pin, 16 pin, 17 pin, 18 pin, the 19 foot rest skies of serial port chip U1;
MCU control circuit comprises the second chip U2, and 4 pin that the 68th pin of the second described chip U2 and 69 pin turn serial port chip U1 with a USB are respectively connected with 3 pin; 6 pin, 11 pin, 21 pin, 22 pin, 28 pin, 50 pin, 75 pin and 100 pin of the second chip U2 connect 3.3V voltage; 10 pin, 19 pin, 20 pin, 27 pin, 49 pin, 74 pin and the equal ground connection of 99 pin of the second chip U2; Other pins of not mentioning in the second chip U2 literary composition are all built on stilts;
The second described chip U2 is the kernel control chip of whole control driver module, is the ARM Cortex-M3 processor STM32F103VBT6 based on 32,
Motor drive ic U3, the first diode D1, the second diode D2, the 3rd diode D3, the 4th diode D4, the 5th diode D5, the 6th diode D6, the 7th diode D7, the 8th diode D8, first interface device J1 that power amplification circuit comprises;
The 1 pin ground connection of motor drive ic U3, 2 pin are connected with the negative terminal of the 5th diode D5 with the anode of the first diode D1 and are connected with a pin of first interface device J1 simultaneously, 3 pin are connected with the negative terminal of the 6th diode D6 and are connected with another pin of first interface device J1 with the anode of the second diode D2 simultaneously, the 13rd pin is connected with the negative terminal of the 7th diode D7 with the anode of the 3rd diode D3 simultaneously, the 14th pin is connected with the negative terminal of the 8th diode D8 with the anode of the 4th diode D4 simultaneously, 8 pin, 15 pin whiles and the 5th diode D5, the 6th diode D6, the 7th diode D7, the anode of the 8th diode D8 is connected and ground connection, 4 pin are connected with the negative terminal of the first diode D1, the second diode D2, the 3rd diode D3, the 4th diode D4 and connect 12V power supply, 9 pin are connected with 5V power supply, 5 pin are connected with 85 pin of the second chip, 7 pin are connected with 86 pin of the second chip, 6 pin are connected with 35 of the second chip, and 6 pin are connected with 35 pin of the second chip U2, remaining pin is all floating empty,
Described motor drive ic U3 model is LM298; First interface device J1 model is 301-2P connection terminal.
The beneficial effect that the utility model has:
(1) traditional experience recognizes that existing inverted pendulum experiment equipment is valuable, as Undergraduate Experimental Teaching improper.This problem, with reference to inverted pendulum experimental system, according to existing material, is developed and is controlled simply, more directly perceived, is more suitable in the Single-Rotational Inverted Pendulum experimental system of undergraduate's teaching.
(2) this platform can organically combine the course such as Automatic Control Theory, single-chip microcomputer, give experiment porch of studying in order to practise of student, effectively how guiding student association merges knowledge mutually, the ability that is conducive to student and cultivates solving practical problems.
Brief description of the drawings
Fig. 1 is that hardware of the present utility model connects block diagram;
Fig. 2 is serial communication circuit figure of the present utility model;
Fig. 3 is MCU control circuit figure of the present utility model;
Fig. 4 is power amplification circuit figure of the present utility model;
Fig. 5 is workflow diagram of the present utility model.
Embodiment
Below in conjunction with accompanying drawing, the utility model is further illustrated.
As shown in Figure 1, a kind of Single-Rotational Inverted Pendulum control experimental system, comprises potentiometer measuring angle module 1, controls driver module, angle monitoring module.
Potentiometer measuring angle module 1 is used the measuring angle module that model is WDD35D-1, and when system works, the angle of fork being converted to magnitude of voltage by potentiometer measuring angle module 1 must change, and then sends control driver module to and processes.
Control driver module and comprise serial communication circuit 2-1, MCU control circuit 2-2, power amplification circuit 2-3.Angle monitoring module comprises angle display unit 3-1 and setting parameter unit 3-2.
1 pin of potentiometer measuring angle module 1 is connected with the GND of MCU control circuit 2-2, and No. 2 pin is connected with the PA4 pin of MCU control circuit 2-2, and No. 3 pin is connected with the VCC of MCU control circuit 2-2; The RXD pin of serial communication circuit 2-1 is connected with the PA9 pin of MCU control circuit 2-2, and the TXD pin of serial communication circuit 2-1 is connected with the PA10 pin of MCU control circuit 2-2; The ENA pin of power amplification circuit 2-3 is connected with the PB0 pin of MCU control circuit 2-2, and the IN1 pin of power amplification circuit 2-3 is connected with the PD4 pin of MCU control circuit 2-2, and the IN2 pin of power amplification circuit 2-3 is connected with the PD5 pin of MCU control circuit 2-2; The OUT1 of power amplification circuit 2-3 is connected with the positive and negative terminal of motor with OUT2; Angle display unit 3-1 is connected with the USB interface of serial communication circuit 2-1 by a USB Serial Port Line with setting parameter unit 3-2.
Control driver module and receive the fork angle information from potentiometer measuring angle module, then by serial communication circuit 2-1, fork angle information is sent to the angle display unit 3-1 in angle monitoring module, for showing fork angle information; Control driver module receives from setting parameter unit 3-2 input fork angle on target in angle monitoring module and controls parameter information simultaneously, and the fork angle information of this information and potentiometer measuring angle module is compared, and adopt FUZZY ALGORITHMS FOR CONTROL, after calculating current motor drive volume, regulate motor speed, fork is controlled to angle on target by final realization.
Angle initialization unit 3-2 input fork angle on target information in angle monitoring module, angle monitoring module sends to the angle on target information of input the MCU control circuit 2-2 controlling in driver module, MCU control circuit 2-2 calculates the dutycycle of PWM ripple according to fork angle on target and current angle gauge and produces the PWM ripple of corresponding dutycycle, by PWM ripple driving power amplifying circuit control motor speed; Angle display unit 3-1 receives from the fork information of controlling driver module, for showing angle or the movement locus of fork;
As shown in Figure 2, serial communication circuit 2-1 comprises that a USB turns serial port chip U1, USB interface, the first crystal oscillator Y1, the first capacitor C 1, the second capacitor C 2, the 3rd capacitor C 3, the 4th capacitor C 4.It is CH341 that a described USB turns serial port chip U1 model;
6 pin that the one USB turns serial port chip chip U1 are connected with one end of the first capacitor C 1, the other end ground connection of the first capacitor C 1; The one USB turns 7 pin of serial port chip chip U1 and the D+ pin of USB interface is connected, and 8 pin are connected with the D-pin of USB interface; 9 pin that the one USB turns serial port chip U1 are connected with one end of the 4th capacitor C 4, one end of the first crystal oscillator Y1 simultaneously, and the other end of the 4th capacitor C 4 is connected and ground connection with 19 pin that a USB turns serial port chip U1; 10 pin that the one USB turns serial port chip U1 are connected with the other end of the first crystal oscillator Y1, one end of the 3rd capacitor C 3 simultaneously, the other end ground connection of the 3rd capacitor C 3; 13 pin that the one USB turns serial port chip U1 turn 20 pins of serial port chip U1 with a USB, one end of the second capacitor C 2 is connected and connects 5V voltage simultaneously; 11 pin that the one USB turns serial port chip U1 turn 12 pin of serial port chip U1 with a USB, the other end of the second capacitor C 2 is connected and ground connection; The VCC pin of USB interface connects 5V voltage, and two SHELL pin interconnect, GND pin ground connection.The one USB turns 1 pin, 2 pin, 5 pin, 14 pin, 15 pin, 16 pin, 17 pin, 18 pin, the 19 foot rest skies of serial port chip U1.
Fig. 3 is MCU control circuit 2-2, comprises the second chip U2, and 4 pin that the 68th pin of the second described chip U2 and 69 pin turn serial port chip U1 with a USB are respectively connected with 3 pin; 6 pin, 11 pin, 21 pin, 22 pin, 28 pin, 50 pin, 75 pin and 100 pin of the second chip U2 connect 3.3V voltage; 10 pin, 19 pin, 20 pin, 27 pin, 49 pin, 74 pin and the equal ground connection of 99 pin of the second chip U2; Other pins of not mentioning in the second chip U2 literary composition are all built on stilts.
The second described chip U2 is the kernel control chip of whole control driver module, the ARM Cortex-M3 processor STM32F103VBT6 based on 32, be responsible for coordinating the work of whole system, comprise the output of motor drive signal, realization and the signal acquisition process etc. of serial communication.
Power amplification circuit 2-3 as shown in Figure 4, motor drive ic U3, the first diode D1, the second diode D2, the 3rd diode D3, the 4th diode D4, the 5th diode D5, the 6th diode D6, the 7th diode D7, the 8th diode D8, the first interface device J1 that comprise;
The 1 pin ground connection of motor drive ic U3, 2 pin are connected with the negative terminal of the 5th diode D5 with the anode of the first diode D1 and are connected with a pin of first interface device J1 simultaneously, 3 pin are connected with the negative terminal of the 6th diode D6 and are connected with another pin of first interface device J1 with the anode of the second diode D2 simultaneously, the 13rd pin is connected with the negative terminal of the 7th diode D7 with the anode of the 3rd diode D3 simultaneously, the 14th pin is connected with the negative terminal of the 8th diode D8 with the anode of the 4th diode D4 simultaneously, 8 pin, 15 pin whiles and the 5th diode D5, the 6th diode D6, the 7th diode D7, the anode of the 8th diode D8 is connected and ground connection, 4 pin are connected with the negative terminal of the first diode D1, the second diode D2, the 3rd diode D3, the 4th diode D4 and connect 12V power supply, 9 pin are connected with 5V power supply, 5 pin are connected with 85 pin of the second chip, 7 pin are connected with 86 pin of the second chip, 6 pin are connected with 35 of the second chip, and 6 pin are connected with 35 pin of the second chip U2, remaining pin is all floating empty.
Described motor drive ic U3 model is LM298, can realize with single-chip microcomputer by the object of pwm signal control motor speed;
First interface device J1 model is 301-2P connection terminal.
As shown in Figure 5, the control method of Single-Rotational Inverted Pendulum, specifically comprises the steps:
Step 1. is carried out initialization to potentiometer measuring angle module 1, control driver module, angle monitoring module;
Setting parameter unit 3-2 input fork angle on target information and control parameter in step 2. angle monitoring module, angle monitoring module sends to the angle on target information of input the MCU control circuit 2-2 controlling in driver module, MCU control circuit 2-2 calculates the dutycycle of PWM ripple according to fork angle on target and current angle gauge and produces the PWM ripple of corresponding dutycycle, by PWM ripple driving power amplifying circuit control motor speed;
Wherein MCU control circuit 2-2 specific works is as follows:
Open timer and the interruption of the MCU in MCU control circuit 2-2, the PWM ripple that output is set, by power amplification circuit 2-3 drive motor, swings swing arm and fork.Potentiometer measuring angle module 1 starts the angle of measuring oscillating bar simultaneously, and in real time data is sent to MCU control circuit 2-2.The fork angle on target information that MCU control circuit 2-2 sends by serial ports reading angular monitoring module simultaneously, and fork angle on target information and the current angle of fork are compared, use fuzzy PID algorithm to stablize control to fork.The fork angle on target information that the real-time detection angles monitoring module of MCU control circuit 2-2 sends, and change at any time Fuzzy PID data and the swing of controlling swing arm according to the fork angle on target information of receiving.
1 moment of step 3. potentiometer measurement degree module is detected fork angle information, and fork angle information is sent to control driver module, controls driver module and by serial communication circuit 2-1, fork angle information is sent to angle monitoring module again; Angle display unit in angle monitoring module shows fork angle information.
Described angle monitoring module comprises angle display unit 3-1 and setting parameter unit 3-2.
Angle display unit 3-1 receives from the fork information of controlling driver module, for showing angle or the movement locus of fork; Setting parameter unit 3-2 is used for setting the angle on target of fork, and fork angle on target information is sent to control driver module.
Setting parameter unit 3-2 can set angle and control parameter the angle on target of fork.When setting, can directly in angle input frame, input the angle that needs setting, in the control parameter of controlling input setting in parameter hurdle, click confirmation button.Setting parameter unit 3-2 confirms after button detecting, the numeral in can reading angular input frame and the numeral on setting parameter hurdle, produce corresponding steering order and send to control driver module.
The utility model be mainly angle initialization unit 3-2 set fork angle and control supplemental characteristic, obtain its current information and be presented at angle display unit 3-1 by serial ports.Potentiometer measurement degree module 1 is passed to angle display unit 3-1 by the angle information of fork by controlling driver module, control driver module by the motion of the power amplification circuit control fork in fuzzy PID algorithm and its module, make its according to target angle information regulation move accordingly.

Claims (1)

1. a Single-Rotational Inverted Pendulum control experimental system, comprises potentiometer measuring angle module, controls driver module, angle monitoring module; It is characterized in that:
Potentiometer measuring angle module is used the measuring angle module that model is WDD35D-1, when system works, is that magnitude of voltage must change by the angle of fork by potentiometer measuring angle module converts, then sends control driver module to and processes;
Control driver module and comprise serial communication circuit, MCU control circuit, power amplification circuit; Angle monitoring module comprises angle display unit and setting parameter unit;
1 pin of potentiometer measuring angle module is connected with the GND of MCU control circuit, and 2 pin are connected with the PA4 pin of MCU control circuit, and 3 pin are connected with the VCC of MCU control circuit; The RXD pin of serial communication circuit is connected with the PA9 pin of MCU control circuit, and the TXD pin of serial communication circuit is connected with the PA10 pin of MCU control circuit; The ENA pin of power amplification circuit is connected with the PB0 pin of MCU control circuit, and the IN1 pin of power amplification circuit is connected with the PD4 pin of MCU control circuit, and the IN2 pin of power amplification circuit is connected with the PD5 pin of MCU control circuit; The OUT1 of power amplification circuit is connected with the positive and negative terminal of motor with OUT2; Angle display unit is connected with the USB interface of serial communication circuit by a USB Serial Port Line with setting parameter unit;
Serial communication circuit comprises that a USB turns serial port chip U1, USB interface, the first crystal oscillator Y1, the first capacitor C 1, the second capacitor C 2, the 3rd capacitor C 3, the 4th capacitor C 4; It is CH341 that a described USB turns serial port chip U1 model;
6 pin that the one USB turns serial port chip chip U1 are connected with one end of the first capacitor C 1, the other end ground connection of the first capacitor C 1; The one USB turns 7 pin of serial port chip chip U1 and the D+ pin of USB interface is connected, and 8 pin are connected with the D-pin of USB interface; 9 pin that the one USB turns serial port chip U1 are connected with one end of the 4th capacitor C 4, one end of the first crystal oscillator Y1 simultaneously, and the other end of the 4th capacitor C 4 is connected and ground connection with 19 pin that a USB turns serial port chip U1; 10 pin that the one USB turns serial port chip U1 are connected with the other end of the first crystal oscillator Y1, one end of the 3rd capacitor C 3 simultaneously, the other end ground connection of the 3rd capacitor C 3; 13 pin that the one USB turns serial port chip U1 turn 20 pins of serial port chip U1 with a USB, one end of the second capacitor C 2 is connected and connects 5V voltage simultaneously; 11 pin that the one USB turns serial port chip U1 turn 12 pin of serial port chip U1 with a USB, the other end of the second capacitor C 2 is connected and ground connection; The VCC pin of USB interface connects 5V voltage, and two SHELL pin interconnect, GND pin ground connection; The one USB turns 1 pin, 2 pin, 5 pin, 14 pin, 15 pin, 16 pin, 17 pin, 18 pin, the 19 foot rest skies of serial port chip U1;
MCU control circuit comprises the second chip U2, and 4 pin that the 68th pin of the second described chip U2 and 69 pin turn serial port chip U1 with a USB are respectively connected with 3 pin; 6 pin, 11 pin, 21 pin, 22 pin, 28 pin, 50 pin, 75 pin and 100 pin of the second chip U2 connect 3.3V voltage; 10 pin, 19 pin, 20 pin, 27 pin, 49 pin, 74 pin and the equal ground connection of 99 pin of the second chip U2; Other pins of not mentioning in the second chip U2 literary composition are all built on stilts;
The second described chip U2 is the kernel control chip of whole control driver module, is the ARM Cortex-M3 processor STM32F103VBT6 based on 32,
Motor drive ic U3, the first diode D1, the second diode D2, the 3rd diode D3, the 4th diode D4, the 5th diode D5, the 6th diode D6, the 7th diode D7, the 8th diode D8, first interface device J1 that power amplification circuit comprises;
The 1 pin ground connection of motor drive ic U3, 2 pin are connected with the negative terminal of the 5th diode D5 with the anode of the first diode D1 and are connected with a pin of first interface device J1 simultaneously, 3 pin are connected with the negative terminal of the 6th diode D6 and are connected with another pin of first interface device J1 with the anode of the second diode D2 simultaneously, the 13rd pin is connected with the negative terminal of the 7th diode D7 with the anode of the 3rd diode D3 simultaneously, the 14th pin is connected with the negative terminal of the 8th diode D8 with the anode of the 4th diode D4 simultaneously, 8 pin, 15 pin whiles and the 5th diode D5, the 6th diode D6, the 7th diode D7, the anode of the 8th diode D8 is connected and ground connection, 4 pin are connected with the negative terminal of the first diode D1, the second diode D2, the 3rd diode D3, the 4th diode D4 and connect 12V power supply, 9 pin are connected with 5V power supply, 5 pin are connected with 85 pin of the second chip, 7 pin are connected with 86 pin of the second chip, 6 pin are connected with 35 of the second chip, and 6 pin are connected with 35 pin of the second chip U2, remaining pin is all floating empty,
Described motor drive ic U3 model is LM298; First interface device J1 model is 301-2P connection terminal.
CN201420312557.4U 2014-06-12 2014-06-12 A kind of Single-Rotational Inverted Pendulum control experimental system Expired - Fee Related CN203930517U (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN104881034A (en) * 2015-05-27 2015-09-02 杭州电子科技大学 Sailboard experiment system and sailboard measure method
CN106919098A (en) * 2015-12-24 2017-07-04 北京自动化控制设备研究所 A kind of single-shaft-rotation mechanism control circuit
CN110379285A (en) * 2019-06-28 2019-10-25 西安交通大学 A kind of rectangular pyramid solid inverted pendulum device and control method

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN104881034A (en) * 2015-05-27 2015-09-02 杭州电子科技大学 Sailboard experiment system and sailboard measure method
CN106919098A (en) * 2015-12-24 2017-07-04 北京自动化控制设备研究所 A kind of single-shaft-rotation mechanism control circuit
CN110379285A (en) * 2019-06-28 2019-10-25 西安交通大学 A kind of rectangular pyramid solid inverted pendulum device and control method

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