Control Research of the DSP-Based Pendubot
碩士 === 崑山科技大學 === 電機工程研究所 === 96 === This thesis presents the linear quadratic regulation ,H∞ and fuzzy control of the dsp-based pendubot. The linear quadratic regulation and control are utilized to balance the pendubot.The fuzzy control law is utilized to balance the pendubot and the backwards an...
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| Format: | Others |
| Language: | zh-TW |
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2008
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| Online Access: | http://ndltd.ncl.edu.tw/handle/d6y98u |
| Summary: | 碩士 === 崑山科技大學 === 電機工程研究所 === 96 === This thesis presents the linear quadratic regulation ,H∞ and fuzzy control of the dsp-based pendubot. The linear quadratic regulation and control are utilized to balance the pendubot.The fuzzy control law is utilized to balance the pendubot and the backwards and forwards energy pumping method is adopted to swing up the pendubot. The apparatus EMECS (Electro-Mechanical Engineering Control System) used in this thesis is supplied by TeraSoft Inc. The main feature of EMECS is an embedded control system because the digital controller of EMECS is the TMS320F2812 chip. EMECS can operate stand-alone. The dc motor is driven by the PWM port of TMS320F2812 chip. The encoders of the dc motor and pendulum are linked to the QEP port of TMS320F2812 chip.
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