简易旋转倒立摆及控制装置的系统设计简

采用ATmega128作为本旋转倒立摆控制装置的主控芯片，通过直流电机对旋转臂进行控制，实现对摆杆的旋转控制。用编码器对摆杆旋转角度进行测量，将旋转位移转换成数字脉冲实现控制。通过对编码器设定零点，运用PID算法实现精确控制摆杆的摆动角度与状态。测试结果表明，该简易旋转倒立摆及控制装置的系统设计方法科学，具有性能稳定、抗干扰能力强、控制精确，可靠性高，节能环保等优点。

Design of Simple Rotary Inverted Pendulum and Control Device

This system adopts the ATmega128 as the main control chip of the rotational inverted pen- dulum control device. To realize the rotation control of the pendulum rod,we control the rotating arm through the stepping motor. In the same time, we use the encoder measure the rotation angle of pendulum rod, then converted rotational displacement into digital pulse. Setting the zero point to realize the precisely control of the system by the encoder. Through the motor,the control of the encoder,we im- plemented the basic requirement of the topic and the exploratory function of the part. At last, the re- suits show that, the way we use is scientific, stabilized, and accurate and it owns strong anti-jamming capability, high reliability, last but not least, energy conservation and environmental protection.