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应用调节器及观测器理论,使用 TK—80工业控制机、8位 A/D.10位D/A,成功地实现二级倒立摆的稳定控制.用连续系统二次型性能指标法、降维观测器及线性函数观测器,设计了数字控制器取得满意的效果.并对 TK—80工业控制机的软硬件做了适当的修改,给出用汇编语言编写的软件管理框图和控制算法的主程序框图.介绍了二级倒立摆控制系统的计算机辅助分析与设计,这一工作是基于 LCSADP 软件包上完成的,并给出了实验结果.
Using the theory of regulator and observer, the stable control of two-stage inverted pendulum was successfully achieved by using TK-80 industrial controller and 8-bit A / D.10 digit D / A. Using the quadratic performance index of continuous system, Dimensional observer and linear function observer, designed a digital controller to obtain satisfactory results.And TK-80 industrial control machine hardware and software made the appropriate changes, given in the assembly language software management block diagram and control algorithm The main block diagram shows the computer aided analysis and design of the two-stage inverted pendulum control system, which is based on the LCSADP software package and gives the experimental results.