Experiment Platform Design cSPACE-Based for a Permanent Magnet Linear Synchronous Motor Driven Inverted Pendulum
Permanent magnet linear synchronous motor (PMLSM) driven inverted pendulum is a new member of present similar devices, various unexpected disturbances such as lag effect of a belt attached to a cart and errors caused by a rotary encoder while detecting the position of a cart can be eliminated or reduced to a small range.In this paper, ironless permanent magnet synchronous linear motor driven inverted pendulum experiment platform is developed. The plant is hardware in the loop real time simulation control development system (Hardware-in-Loop, HIL)based on TMS320F2812DSP and MATLAB, it can use simple and efficient way to achieve linear motor driven inverted pendulum real-time control. Long design time for programming and debugging difficulty are avoided for traditional programming language. Control algorithm can be investigated directly on MATLAB/Simulink, and can be generated automatically control code to control single and double -stage inverted pendulum system. The real performance of the driven inverted pendulum is researched in this paper, the results showed that the controllability of the driven inverted pendulum is fine.
Aimin Yang, Jingguo Qu and Xilong Qu
R. M. Cao et al., "Experiment Platform Design cSPACE-Based for a Permanent Magnet Linear Synchronous Motor Driven Inverted Pendulum", Applied Mechanics and Materials, Vols. 84-85, pp. 452-456, 2011