摘要自从 MIT 根据火箭发射助推器原理制作出第一个倒立摆实验设备，至今已有 大约 70 年的发展历史。倒立摆一直是自动化领域研究控制理论的一种重要工具， 它以其简单的机械结构，较低的制作成本，已经成为控制领域不能缺少研究对象。 倒立摆作为一个多变量、不稳定、非线性的经典控制对象，其研究对于国家的军 事、工业、航天等各个方面都有广泛的意义。72254

本文所研究的旋转倒立摆是一种结构更简单的倒立摆系统，因此很受学生和 老师的喜欢，同时简易旋转倒立摆也是 2013 年全国电子设计大赛的题目，基于 这些背景，进一步研究了倒立摆系统的控制方法。

本文主要完成了一级旋转倒立摆的模型建立与仿真，倒立摆系统的实物设计 以及控制方案的验证，同时开发了上位机程序。

倒立摆系统实物设计采用 57 步进电机作为动力部分，光电编码器作为角度 采集部分，并结合了一块 CPLD 进行角度计算，主控模块采用了 STM32 的 Cortex-M4 核 ARM 单片机构成。同时在摆杆上增加了一个惯性测量单元 IMU 模块，通过加速 度计与电子罗盘，结合卡尔曼滤波融合算法，获得偏航角，对倒立摆增加了定向 控制。

上位机程序是用 VS2012 设计的 MFC 程序，通过串口采集了单片机系统的输 入输出数据，并实现了波形显示以及数据存储等功能。

毕业论文关键字：一级旋转倒立摆 PID LQR MFC STM32 步进电机

Single Rotary Inverted Pendulum

Abstract Since MIT according to the principles of rocket boosters made the first pendulum experiment equipment has been about 70 years of the development of history。 The inverted pendulum control appliance has been an important tool for research, with its simple structure, low production costs, has become indispensable in the control field。 Inverted pendulum system as a variable, unstable, nonlinear control plant, the study on it has broad meaning in the country's military, industrial, aerospace and so on various aspects 。

This rotary inverted pendulum is a simpler system of inverted pendulum, so it’s very popular with the students and teachers。 At the same time, the simple rotational inverted pendulum is also one of the questions in the 2013 National Electronic Design Contest。 Against this background, I studied the control methods for  inverted pendulum control system further。

This paper mainly finished the establishment of its mathematical model, the simulation of this system, the design in its mechanical structure, the authentication of control algorithms and the development of a computer program。

The design of inverted pendulum system used a 57 stepper motor as an actuator, combined a photoelectric encoder with a CPLD to get the information of the swing angle and constructed the main control module use the MCU stm32。 While I added an inertial measuring unit (IMU) module on the pendulum rod to access to the yaw angle through the combined use of accelerometer and digital compass, and a kalman filter algorithm is needed, increased a directional control loop on the inverted pendulum system。

The auxiliary analysis software is a MFC program designed with VS2012。 It can collect the input and output data through the USART interface of the single chip microcomputer system, and realize the waveform display and data storage functions。

Key Words:Single Rotary Inverted Pendulum PID LQR MFC STM32Stepper Motor

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