本論文旨在探討將數個典型的倒單擺機構整合成一個非線性控制實驗平台，控制器的實現是以數位訊號處理器(Digital Signal Processor, DSP)為基礎，目的是將整個控制平台模組化、小型化、低價化。如此一來，將可廣泛地利用此平台做為驗證不同控制法則之可行性及性能比較，甚至可擴充成為其它更複雜的非線性控制系統，以提供教學及研究之用。本論文實作部份係採用德州儀器公司所生產的定點式運算之數位訊號處理器，型號為TMS320F2812，利用其快速的運算能力和豐富的運動控制介面以及通訊介面，進而實現效能優越的數位控制器，同時搭配自行製作的週邊介面電路，以期達到本論文的的控制目標，例如「車與桿甩上控制」、「車與桿甩上平衡控制」、「車與桿於斜坡之平衡控制」、「車與蹺蹺板平衡控制」、「單擺型天車抗搖晃控制」等多項非線性控制功能。最後以模擬結果以及實驗結果來驗證本論文理論及實作之一致性。

This study is to develop a digital control platform that can carry out several well-know nonlinear control experiments. The implementation of the digital control system is based on a digital signal processor such that the system can be made in modulization and miniaturization with low cost. This platform can be use to verify different control schemes for education or research. Moreover, the mechanism is designed to be readily expandable to other complex nonlinear control systems. In this study, the Texas Instruments TMS320F2812 digital signal processor is used to implement the high performance digital controller with some designed peripheral circuits. This processor provides highly integrated solutions for this demanding control system. This control system can perform five challenging control tasks: balance control for the cart-pole system, swing up and balance control for the cart-pole system, balance control for the cart-pole system at the ramp, anti-sway control for the pendulum-type crane, and balance control for the cart-seesaw system. The experimental results and simulation results are given to demonstrate the effectiveness of the developed DSP-based control system.

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