学术
国际标准刊号：ISSN 1000-8829
国内统一刊号：CN 11-1764
摘 要:
应用动力学理论的拉格朗日方程对两轮式倒立摆自平衡控制系统进行系统分析和数学建模，并基于状态反馈等控制理论对控制系统进行仿真，实现了基于DSP的软件控制，使系统在各种运动状态下保持平衡。两轮式自平衡控制系统已经初步实现自平衡，以及行走等功能。[著者文摘]
文章出处:
《测控技术》-2007年26卷11期 -23-26页
Measurement & Control Technology
栏目信息:
分 类 号:
文献标识码:
A
文章编号:
1000-8829（2007）11-0023-04
[参考文献]
Two-Wheel Inverted Pendulum Self-Balance Control System Based on DSP
ZHANG Hua-bin, ZHANG Pei-ren, LI Hao-hua, XU Bo, YANG Tian-bao （ Department of Automation, University of Science and Technology of China, Hefei 230027, China）
Abstract:
By using dynamics theory and method, the mechanics principle of two wheel inverted pendulum system can be analysed and the mathematical model can be established. On the basis of automation control theory of state feedback, simulation has been done and the software control is realized with DSP, The two-wheel self-balance control system already has the ability to keep balance whenever still or running.[著者文摘]
Key words:
two-wheel inverted pendulum; self-balance contol system; DSP; state space equation
收稿日期: 2006-12-02
更多评论>>文章评论
更多>>免费文章
cqvip.com