简易旋转倒立摆及控制装置

设计了一种旋转式倒立摆，系统的工作原理是角度、位移信号经过检测电路获取后，由微分电路获取相应的微分信号，并转化为电压信号提供给驱动电路，以驱动直流力矩电机的运动，通过电机带动旋臂的转动来控制摆杆的运动。本设计结构新颖，它省去了现有直线式倒立摆中复杂的传动机构，使得整体结构简洁紧凑、占地面积小，而且使得与控制方法无关的因素（例如传动机构的故障、误差、非线性等）大大减少，从而增加了控制的精确度、控制效果稳定，使可靠性提高。

A Simple Rotary Inverted Pendulum and Its Control Device

This paper designs is a kind of rotary inverted pendulum, the working principle of the system is to obtain corresponding dif-ferential signals by differential circuit after the detection of angle and displacement signal, and then translate them into voltage signals to provide the driving circuit and to drive the movement of DC torque motor and to control the movement of swinging rod by the rotation of the motor operating spiral arms. This design with new structure saves the existing complex transmission mechanism in linear inverted pendulum, making the overall structure simple and compact and occupy small space, and making factors that has nothing to do with the control method （ such as fault, error and nonlinear, etc. ） greatly reduce, so as to increase the control precision, stable the control effect and improve the reliability.