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研究生:詹富強
研究生(外文):Fu-Chiang Jan
論文名稱:以數位信號處理器為基礎單板獨立旋轉型倒單擺甩上與平衡控制系統之實現
論文名稱(外文):Implementation of DSP-Based Stand-aloneControl System for Rotary Inverted-pendulum System Swing Up & Balance
指導教授:何明字
指導教授(外文):Ming-Tzu Ho
學位類別:碩士
校院名稱:國立成功大學
系所名稱:工程科學系碩博士班
學門:工程學門
學類:綜合工程學類
論文種類:學術論文
論文出版年:2004
畢業學年度:92
語文別:中文
論文頁數:61
中文關鍵詞:旋轉型倒單擺平衡控制倒單擺甩上控制數位信號處理器
外文關鍵詞:Rotary Inverted-pendulumDSP-BasedInverted Pendulum
相關次數:
  • 被引用被引用:17
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  • 下載下載:0
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  本論文旨在研究以德州儀器公司生產之定點式數位信號處理器(DSP)-TMS320F240為控制核心實現旋轉型倒單擺系統之甩上與平衡控制。文中包括系統建模、控制電路設計與參數量測,其重點在於硬體實現上設計一個以DSP為控制核心之單板獨立(stand-alone)控制系統,整個硬體系統包括旋轉型倒單擺機構、針對旋轉型倒單擺機構設計之DSP控制卡、直流馬達驅動電路及直流電源供應器。

  旋轉型倒單擺系統為一快速、不穩定之非線性系統,故適用於驗證各種控制理論。旋轉型倒單擺是由二個不同平面的連桿所組成,其控制目的為由直流馬達驅動旋轉臂帶動單擺作甩上運動與平衡控制,本論文的平衡控制器是使用最佳控制理論來完成,甩上控制器則使用以能量為基礎之控制來完成。並以定點式數位訊號處理器為控制核心來實現控制器,整個控制系統具可攜性且有利於系統的小型化,改善傳統使用PC-Based之控制系統所占用之較大設備空間及減低硬體實現成本,非常適合課堂上之操作和展示,作為輔助教學工具。
  In this thesis, implementation of a DSP-Based stand-alone control system for the rotary inverted pendulum swing up and balancing control is presented. It also includes model analysis, DSP-Based control system design and system parameter estimation. The main contribution is that a digital control system for the rotary inverted pendulum is realized through a DSP-Based control module that consists of a fixed-point digital signal processor (DSP)-TMS320F240, a DC motor driver and a DC power supply. This system can operate in a stand-alone mode.
 
  The rotary inverted pendulum system is a highly nonlinear and unstable system, The mechanism of this system is not complicated. Because of this, this system provides a platform for verifying the effectiveness of different control schemes. The rotary inverted pendulum consists of a rigid rod (pendulum) rotating in a vertical plane. The rigid rod is attached to a pivot arm that is mounted on the shaft of a DC motor such that the pivot arm can rotate in the horizontal plan. The control objective is to swing up the pendulum from the downward position and to balance the pendulum in the vertical-upright position. The LQR control scheme is used to achieve balancing control, and the swing up controller adopts the energy-based control scheme. The control law is implemented through a fixed-point digital signal processor. The key features of this DSP-Based stand-alone control system include portability, minimizing the hardware size and saving cost. It is an easy-to-demo experimental apparatus for teaching purposes.
第一章 緒論 ...................................................1-1
1-1 背景 ..............................................1-1
1-2 數位信號處理器簡介 ...............................1-1
1-3 研究動機 ....................................1-2
1-4 相關文獻回顧 ..................................1-2
1-5 本文結構 ....................................1-3

第二章 旋轉型倒單擺系統數學模型建立 .......................2-1
2-1 前言 ..............................................2-1
2-2 旋轉型倒單擺機構部份的數學模型 .................2-1
2-3 直流馬達數學模型之建立 .............................2-4
2-4 馬達參數鑑別 ..................................2-7
2-5 旋轉型倒單擺系統整體系統數學模型 ................2-12

第三章 平衡控制器與甩上控制器之設計 .......................3-1
3-1 前言 ..............................................3-1
3-2 LQR控制器 .....................................3-1
3-3 以能量為基礎之甩上控制器 ....................3-8
3-4 切換控制 ....................................3-10

第四章 單板獨立控制系統之硬體製作 ........................4-1
4-1 前言 ..............................................4-1
4-2 實驗硬體整體系統架構 ..............................4-1
4-3 單板獨立控制卡架構 ...............................4-4
4-3-1 數位信號處理器內部架構 .....................4-4
4-3-2 外部記憶體配置 .................................4-7
4-3-3 增量型編碼器界面 ................................4-8
4-3-4 數位轉類比界面 .................................4-10
4-3-5 其它周邊擴充界面 ................................4-11
4-3-6 外部記憶體與周邊之界面解碼電路 .................4-13
4-3-7 使用CPLD實現位址解碼電路與資料緩衝電路 .......4-18
4-4 直流馬達驅動電路及電源電路設置 .................4-21

第五章 軟體環境和軟體實現方式 ..................................5-1
5-1 前言 ..............................................5-1
5-2 軟體環境 ....................................5-1
5-3 軟體發展流程 ..................................5-2
5-4 實驗結果 ....................................5-8

第六章 結論與未來展望 ......................................6-1
6-1結論 ..............................................6-1
6-2未來展望 ............................................6-1

參考文獻
[1] K. Craig and S. Awtar, “Inverted Pendulum Systems: Rotary and Arm-driven, A Mechatronics System Design Case Study,” Mechatronics, Vol.12, No.2, pp. 357-370, 2002.

[2] T. P. Wilfredo and R. G. Oscar, “Nonlinear Control of Swing-Up Inverted Pendulum,” Proceedings of the 1996 IEEE International Conference on Control Applications, pp. 259-264, 1996.

[3] K. Xu and X. D. Duan, “Comparative Study of Control Methods of Single-rotational Inverted Pendulum,” Proceedings of the First International Conference on Machine Learning and Cybernetics, pp. 776-778, 2002.

[4] G. Du, N. Hung, G. Wu, P. Zhang, Z. Oing, and D. Sun, “The Rotational Inverted-pendulum Based on DSP Controller,” Proceedings of the World Congress on Intelligent Control and Automation, pp. 3101-3105, 2002.

[5] M. Bugeja, “Non-linear Swing-Up and Stabilizing Control of an Inverted Pendulum System,” B. Eng.(Hons.) Thesis, University of Malta, Msida, Malta, May 2002.

[6] 林鈺翔,「雙連桿倒單擺系統甩上與平衡控制」,國立成功大學工程科學系碩士論文,民國九十一年。

[7] K. Ogata, Modern Control Engineering, Prentice Hall, Upper Saddle River, NJ, 2002.

[8] K. J. Astrom, and K. Furuta, “Swinging Up a Pendulum by Energy Control,” Proc. IFAC 13th Triennial World Congr., pp.37-42, 1996.

[9] E. A. Misawa, M. S. Arrington, and T. D. Ledgerwood, “Rotational Inverted Pendulum: A New Control Experiment,” Proceedings of the American Control Conference, pp.29-33, 1995.

[10] TMS320C240, TMS320F240 DSP Controllers (SPRS042D), Texas Instruments Inc., 1998.

[11] TI Compatible TMS320F240 Evaluation Module Technical Reference, Spectrum Digital Inc., 2000.

[12] TMS320C24X DSP Controllers Reference Set Volume1 (SPRU161A), Texas Instruments Inc., 1997.

[13] TMS320C24X DSP Controllers Reference Set Volume2 (SPRU161A), Texas Instruments Inc., 1997.

[14] TMS320C24x DSP Controllers Peripheral Library and Specific Devices, Texas Instruments Inc., 1997.

[15] Digital Motor Control Software Library (SPRU485), Texas Instruments Inc., 2001.

[16] Quadrature Decoder/Counter Interface ICs Data Sheet, Hewlett Packard.

[17] CMOS 12-Bit Multiplying Digital-To-Analog Converter, Texas Instruments Inc., 2003.

[18] 龔應時、陳建武、徐永松,「TMS320F/C24x DSP控制器原理與應用」,滄海。

[19] TMS320C24x DSP Controllers CPU, System, and Instruction Set, Texas Instruments Inc., 1997.

[20] MAX 7000 Programmable Logic Device Family Data Sheet, ALTERA Inc.

[21] TMS320C2xx/C24x Code Composer User’s Guide (SPRU490), Texas Instruments Inc., 2000.

[22] TMS320C2x/C2xx/C5x Optimizing C Compiler User’s Guide (SPRU024E), Texas Instruments Inc., 1999.

[23] TMS320C1x/C2x/C2xx/C5x Assembly Language Tools User’s Guide,
Texas Instruments Inc., 1995.

[24] 李宜達,「控制系統設計與模擬」,全華。

[25] 吳駖,「MATLAB 6.X 與基礎自動控制」,松崗。

[26] 張義和,「主流電腦輔助電路設計 Protel 99 SE」,全華。
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