Dsp-based Inverted Pendulum Control System

The inverted pendulum is a classical control problem of balancing a stick vertically on a linear track cart. As an inherently unstable system by nature, the inverted pendulum has been used as the controlled device in a prototype real-time control system. The stabilization control of the inverted pendulum system is a primary challenge for researchers in control field because of the difficulty of the problem.The main aim of this thesis is to design and construct an inverted pendulum system based digital signal processor(DSP) and to control it. Linear and feedback control theory is required to keep the system stable.After concisely introducing the development and current situation of inverte pendulum system research, The analytic models of single inverted pendulum and two-stage inverted pendulum are derived and the activity feature of them are simulated using MATLAB. Subsequently, different control algorithms are designed based PID control and modern control theries, and the control effects of each control algorithms are simulated using MATLAB and SIMULINK. And also, a new control strategy based on Lyapunov stability theory is presented in this section in order to keep the inverted pendulum stabling in large regions.After that, a computer control systme based DSP and its peripheral circuit are disigned 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 disigned and tested.Finally, the results obtained and the lessons learned are summarized, and future work is discussed.The research of this theis based on difinite theory, including the education of mathematical model, discussion of methodology and the design of real control system. What's more, the research object is rather typical. So this research has an important academic and practical significance.