Disquisition Of The Inverted Pendulum Control System Based On Digital Signal Processor

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. In the modern mechanical control system, there is the same problem in the helicopters, the emitting of the rocket and the emitting of the satellite, In our lives, there is also the same question in the gym, skating and driving by bicycle. So the research of the inverted pendulum is very important both to the project and to our lives.The main aim of this thesis is to design and construct an inverted pendulum system based on digital signal processor(DSP) and to control it. Linear and feedback control theory is required to keep the system stable.At first, the background pendulum are introduced. Many control methods of the inverted pendulum are briefly illustrated. And then, this paper establishes the mathematic analytic models of single inverted pendulum and two-stage inverted pendulum according to the second law of Newton and the foundation of the dynamics , and simulates the activity feature of them by using MATLAB. Subsequently, research the different kind control algorithms of inverted pendulum system and compare the control effects of each control algorithms.After that, a computer control system based 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.Finally, the results obtained and the lessons learned are summarized, and future work is discussed.The research of this thesis based on definite theory, including the education and analysis ofmathematical model, discussion of methodology and the design of real control system. What's more, the research object is rather typical. The work presented here, not only can be used as a pedagogical experiment formodern control theory, but also can benefit practical problems with similar model such as the study of bipedal robots.