【作者】 侯启林；

【导师】 胡仁杰；

【作者基本信息】 东南大学 ， 电气工程（专业学位）， 2019， 硕士

【摘要】 风力摆作为一种与四轴飞行器较为相似的研究对象,具有不稳定、多变量和非线性的特点,常常应用于高校的教学实验课程设计。对风力摆控制系统及其教学实验平台的研究过程所涉及到的主要核心问题包括硬件结构设计、系统建模、姿态检测与融合以及姿态控制等方面的内容,针对这些问题,本文展开了如下的工作:1、以高校实验教学为出发点,针对风力摆控制系统实验平台的设计要求,从整体上对系统设计过程中需要解决的问题进行了分析,以及对系统的硬件实验平台和软件实验平台分别进行了总体设计。2、分析了风力摆的具体工作原理,在此基础上,从能量的角度建立了风力摆控制系统的拉格朗日动力学模型;对风力摆控制系统的硬件设计部分进行了详细的论述,通过对实现硬件设计的各种技术方案进行了分析与比较,选择了最合适的硬件设计方案并进行了电路设计工作。3、研究了风力摆在运动过程中的姿态表示和姿态检测方法,以及不同的姿态传感器的角度检测特性;将互补滤波算法、自适应互补滤波算法以及卡尔曼滤波算法应用到风力摆的姿态融合解算中,并通过相关的仿真实验来验证上述融合算法的可行性以及后两种姿态融合算法相较于第一种算法的改进性能。4、以风力摆控制系统的单级角度PID控制器为基础,设计了包括角度检测外环和角速度检测内环的串级PID控制器,并提出了风力摆在不同运动模式下详细的控制策略;对主程序、基础外设初始化程序、姿态角检测程序以及定时器中断程序等程序模块进行了分析与设计。5、构建了风力摆控制系统实验平台,对上述三种姿态融合算法进行相关的实验测试并对测试结果进行了分析与比较,验证了自适应互补滤波算法和卡尔曼滤波算法相较于互补滤波算法的优良特性;采用串级PID控制器对风力摆在不同运动模式下进行了实验测试,实验结果表明了运用该控制器对风力摆进行姿态控制能够达到控制系统的性能指标。更多还原

【Abstract】 As a kind of research object similar to the quadcopter,wind pendulum has the characteristics of instability,multivariate and nonlinearity,commonly used in the design of teaching experiment courses in colleges and universities.The main core issues involved in the research process of wind pendulum control system and its teaching experiment platform include hardware structure design,system modeling,attitude detection and fusion,and attitude control.For these issues,the following works has been carried out:1.Taking the experimental teaching of colleges as the starting point,aiming at the design requirements of the experimental platform of the wind pendulum control system,the problems that need to be solved in the system design process are analyzed as a whole,and the overall design of the hardware experimental platform and the software experimental platform of the system are respectively carried out.2.The specific working principle of the wind pendulum is analyzed.On this basis,the Lagrangian dynamic model of the wind pendulum control system is established from the energy point of view.The hardware design part of the wind pendulum control system is discussed in detail.Various technical solutions for hardware design were analyzed and compared,and the most suitable hardware design was selected and the circuit design work was carried out.3.The attitude representation and attitude detection methods of wind pendulum during motion and the angle detection characteristics of different attitude sensors are studied.The complementary filtering algorithm,adaptive complementary filtering algorithm and Kalman filter algorithm are applied to the attitude analysis of wind pendulum.In the middle,and through the relevant simulation experiments to verify the feasibility of the above fusion algorithm and the improved performance of the latter two attitude fusion algorithms compared to the first algorithm.4.Based on the single-stage angle PID controller of the wind pendulum control system,a cascade PID controller including angle detection outer ring and angular velocity detection inner ring is designed,and the detailed control strategy of wind pendulum in different motion modes is proposed.Program modules such as main program,basic peripheral initialization program,attitude angle detection program,and timer interrupt program are analyzed and designed.5.The experimental platform of wind pendulum control system is constructed.The above three kinds of attitude fusion algorithms are tested and compared.The results of the adaptive complementary filtering algorithm and Kalman filtering algorithm are compared with those of complementary filtering algorithm.Excellent characteristics;the cascade PID controller is used to test the wind pendulum in different motion modes.The experimental results show that the attitude control of the wind pendulum can achieve the performance index of the control system.更多还原