| The inverted pendulum is a typical laboratory equipment in the research ofautomatic control theory. With demand for portable facility, traditional invertedpendulum can not meet user’s requirement, so portable inverted pendulum emerges. Butmost traditional motion controller use PCI or ISA bus, with complex installation,inferior expansibility,high cost and etc shortage, which can not satisfy the requirementof portable design. So this paper proposes that using TMS320F2812and CY7C68013todesign a simple single-axle motion-controlled module for driving single way motor,high-speed data acquisition and processing. The module makes USB2.0buscommunicate with the host computer, it help to solve many key issues, such as low-cost,high-speed transmission and Plug and Play. It also provides an effective technicalmethod for portable design. The motion-controlled module has been successfullyapplied to portable linear inverted pendulum in Shenzhen Reinovo Technology Co.,Ltd.This paper is main to research the developing of single-axle motion-controlledmodule, and applying to portable linear inverted pendulum. This thesis arranges for thecontent as follows:Chapter one is introduction, giving an outline of the development of currentbiomedical engineering and application and development of motion control technologyin biomedical engineering field. Chapter two is hardware system design of the module.The hardware mainly includes five module, main control module, driver module,statusacquisition module, USB communication module and I/O module. Chapter threeemphatically introduce software design of the system. Software includes maincontrolled chip DSP control program, USB driving program and control systemprogram of PC. It contains program flow chart and some key code. Chapter fouremphatically introduce application of module. Applying the motion-control led toportable linear inverted pendulum, make it to be checked in practice. Chapter fivesummarizes and looks into the distance of the work. |
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