摘要
慣性桿倒單擺系統是一個不穩定的非線性系統，其機械結構並不複雜，故適用於驗證各種控制理論。本論文中首先介紹如何建立慣性桿倒單擺系統，然後推導出慣性桿倒單擺系統機械部份數學模型，並且建立直流馬達模型，最後並將機械部份與電氣部份合一。本論文主要目的在使單擺平衡於不穩定平衡點，平衡控制器採用LQR控制理論，然後利用MATLAB/Simulink來進行平衡控制器的設計與模擬。最後，吾人以數位訊號處理器為基礎，及利用C語言與組合語言撰寫控制器程式來實現整個控制系統，經實作顯示慣性桿倒單擺可達到平衡。

Abstract
The inertia pole inverted pendulum system is an unstable nonlinear system. The mechanism of this system is not complicated. Because of this reason, this system provides a platform for verifying the effectiveness of different control schemes. In this thesis, it is first shown how to build up an inertia pole inverted pendulum system. Then the mathematical model of the inertia pole inverted pendulum is derived and also the DC motor model is obtained. The objective of this research is to balance the pendulum at the unstable position. The balance controller design is based on the LQR control theory. MATLAB/Simulink are used to design and simulate the control system. Finally, the control law is implemented using a digital signal processor with programs coded in C language and assembly. The experimental results are given to demonstrate the effectiveness of the control system.

參考文獻

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