Control Of The Inverted Pendulum Based On DSP

The control of the inverted pendulum is a traditional question in the field of control. As an inherently unstable system by nature, the inverted pendulum has been used as the controlled device in a prototype real-time control system. One can not only solve the control theory problem, but also put the mechanics, mathematics and electrics together through studying the inverted pendulum. The stabilization control of the inverted pendulum system is a primary challenge for researchers in control field because of the difficulty of the problem.After concisely introducing the development and current situation of inverted pendulum system research, the analytic models of single inverted pendulum and two-stage inverted pendulum are derived and the activity features are simulated using Matlab.Based on the traditional PID control method, the inverted pendulum can stand for a long time using mutative PID control. But the parameters are too much and are very difficult to be adjusted. Hence, we designed another method, which is Linear Quadratic Regulator. According to change of input parameters and state parameters, the feedback matrix can be achieved and realize the stable control of inverted pendulum.Further more, communication between Visual Basic and DSP has been established and can record the real-time curves and parameters variety. And using PD feedback control method rectifies the non-linear of direct motor's speed. Software carries out the servo control of motor.After that, a computer control system based on DSP and its peripheral circuit are designed in this thesis in order to control inverted pendulum system, and the control algorithms are implemented in C and ASM language. The hardware and software of the system have been designed and tested.Finally, the results obtained and the lessons learned are summarized and future...