本論文旨在研究以德州儀器公司生產之定點式數位信號處理器(DSP)-TMS320F240為控制核心實現旋轉型倒單擺系統之甩上與平衡控制。文中包括系統建模、控制電路設計與參數量測，其重點在於硬體實現上設計一個以DSP為控制核心之單板獨立(stand-alone)控制系統，整個硬體系統包括旋轉型倒單擺機構、針對旋轉型倒單擺機構設計之DSP控制卡、直流馬達驅動電路及直流電源供應器。

　　旋轉型倒單擺系統為一快速、不穩定之非線性系統，故適用於驗證各種控制理論。旋轉型倒單擺是由二個不同平面的連桿所組成，其控制目的為由直流馬達驅動旋轉臂帶動單擺作甩上運動與平衡控制，本論文的平衡控制器是使用最佳控制理論來完成，甩上控制器則使用以能量為基礎之控制來完成。並以定點式數位訊號處理器為控制核心來實現控制器，整個控制系統具可攜性且有利於系統的小型化，改善傳統使用PC-Based之控制系統所占用之較大設備空間及減低硬體實現成本，非常適合課堂上之操作和展示，作為輔助教學工具。

　　In this thesis, implementation of a DSP-Based stand-alone control system for the rotary inverted pendulum swing up and balancing control is presented. It also includes model analysis, DSP-Based control system design and system parameter estimation. The main contribution is that a digital control system for the rotary inverted pendulum is realized through a DSP-Based control module that consists of a fixed-point digital signal processor (DSP)-TMS320F240, a DC motor driver and a DC power supply. This system can operate in a stand-alone mode.
　
　　The rotary inverted pendulum system is a highly nonlinear and unstable system, The mechanism of this system is not complicated. Because of this, this system provides a platform for verifying the effectiveness of different control schemes. The rotary inverted pendulum consists of a rigid rod (pendulum) rotating in a vertical plane. The rigid rod is attached to a pivot arm that is mounted on the shaft of a DC motor such that the pivot arm can rotate in the horizontal plan. The control objective is to swing up the pendulum from the downward position and to balance the pendulum in the vertical-upright position. The LQR control scheme is used to achieve balancing control, and the swing up controller adopts the energy-based control scheme. The control law is implemented through a fixed-point digital signal processor. The key features of this DSP-Based stand-alone control system include portability, minimizing the hardware size and saving cost. It is an easy-to-demo experimental apparatus for teaching purposes.

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