基于AT89C51的跷跷板自平衡控制系统的研制

摘要

This paper is mainly focus on the methods and processes to control an adaptive control system of a self-designed seesaw.More specifical y,the AT89C51 is selected as the chip in the control ing system and the photoelectric sensor is used to detect the balance of the seesaw system.The control signal calculated by the improved PlD algorithm,wil be transformed into a typical PWM signal to control rotation angle of the Servo S3010.Then,the rotation of the servo leads to a heavy punch's movement to adjust the center of mass of this seesaw system.%针对一个自行制作的跷跷板控制系统，研究其自平衡控制的方法。控制系统采用的CPU是AT89C51，通过光电传感器来检测跷跷板系统的平衡状况，采用改进后的PlD算法进行控制，利用单片机输出PWM信号控制s3010舵机的转动，舵机带动重锤转动调节跷跷板系统的重心，能够使跷跷板系统在任意设定位置达到动态平衡。