Based on the ARM and PID Control Free Pendulum Balance System

摘要

Abstract The free motion of a pendulum is a discontinuous change of the unstable system, when a motor is fixed to the end of free pendulum, and a flat plate is mounted on the motor shaft, so the motor drives the plate to rotate, which can realize balance control of plate in the free pendulum swing process. Based on ARM and digital PID control free pendulum balance control system applies control theory and electronic technology to achieve automatic control of free swinging end plate, the application can achieve a variety of functions according to the actual need. The system is based on ARM embedded system as the main control circuit, the angle sensor is responsible for signal acquisition, software implement PID operation, the microprocessor outputs control command to drive motor, so that the whole system run smoothly and achieve the predetermined requirements. By practical testing, the system can realize the automatic adjustment and control, control precision and speed can reach the requirement. The system's hardware circuit is simple, software facilitate transplant, the whole system is stable, in the industry control and robot field has a certain reference value.