基于AVR单片机的旋转倒立摆设计

对简易旋转倒立摆的各个模块做了相关介绍,对系统的实现方案和设计步骤进行描述。采用ATmega16单片机作为主控元件,以BTS7960模块作为驱动器,使用直流伺服电机作为驱动电机。采用增量式PID算法控制摆杆达到稳定,对摆杆所处位置的角度进行分段,然后采用分段PID算法进行控制,以使摆杆快速趋于稳定状态,得到良好的控制效果。

Design of rotational inverted pendulum based on AVR SCM

Each module of simple rotary inverted pendulum is introduced in this paper. The realization scheme and design procedure of the system are described,in which ATmega16 micro controller is used as the main control element,the BTS7960 module as the driver and the DC servo motor as driving motor. The incremental PID algorithm is adopted to control the swing rod to stabilize the pendulum. The angle of place where the swing rod locates is segmented,and then the segmentation PID algorithm is employed to control the swing rod,so as to make the swing rod to verge to a steady state quickly,and obtain the good control effect.