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本系统以TI公司的MSP430F168IPM单片机做为整个系统的控制核心,采用飞思卡尔E6A2-CWZ3C编码器作为主要测量模块来对摆杆的角度和位置进行精确测量;通过PID算法对电机进行有效控制;驱动部分采用大功率H桥电机驱动模块,实现对电机更强的驱动能力;采用4*4矩阵键盘作为模式选择开关,以实现题目中不同部分的要求。12864液晶模块实时显示编码器采集的各项数据,整个系统以5V和12V直流电源供电且运行良好,基本部分和发挥部分全部达标,另外还可完成使摆杆在160°位置自动恢复倒立状态,液晶显示单摆摆动时间和15g重物干扰保持倒立不变状态等额外功能。
The system uses TI’s MSP430F168IPM microcontroller as the control core of the entire system, using Freescale E6A2-CWZ3C encoder as the main measurement module to accurately measure the angle and position of the pendulum; effective control of the motor through the PID algorithm; The driving part adopts high-power H-bridge motor drive module to realize stronger driving capability to the motor. The 4 * 4 matrix keyboard is used as a mode selection switch to realize the requirements of different parts in the topic. 12864 LCD module real-time display of the encoder to collect the data, the entire system to 5V and 12V DC power supply and run well, the basic part and play part of the full compliance, but also to complete the pendulum in the 160 ° position automatically restore the inverted state, Liquid crystal display pendulum swing time and 15g heavy objects to maintain the state of inverted interference and other extra features.