基于CANopen协议的双轮移动倒立摆控制系统*

作者：孙汉旭,曹志杰,贾庆轩 日期：2008-04-17/span> 浏览：4122 查看PDF文档

基于CANopen协议的双轮移动倒立摆控制系统*
孙汉旭,曹志杰,贾庆轩
（北京邮电大学 自动化学院，北京 100876）

摘 要：研究了实验室双轮移动倒立摆机构，引入并分析了CANopen协议的通讯协议在控制系统中的应用。提出了一种改进型的控制系统方案，并详细分析了CANopen协议的设置方法，解决了控制系统中快速性和稳定性的问题。并通过测试实验验证了信息传递的可靠性，以及伺服系统对电机控制的准确性和实时性。实验结果表明，系统达到了倒立摆长期稳定控制的效果和载人功能。
关键词：倒立摆；CANopen协议；数字信号处理器

Control system of twowheel mobile inverted pendulum based on CANopen protocol
SUN Hanxu, CAO Zhijie, JIA Qingxuan
（College of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China）
Abstract: The twowheel inverted mobile pendulum in lab was studied. The application of CANopen protocol in control system was introduced and analyzed. A new improved control system based on CANopen protocol was proposed and analyzed detailedly. The problem of the rapidity and veracity in control system was solved. By testing experiment, the reliability of communication, the veracity and real time feature of motion control system were verified. Experimental results on the twowheel inverted mobile pendulum indicate that the system realizes the longterm control and the function of carrying person.
Key words: inverted pendulum; CANopen protocol; digital signal processor (DSP)