Equipment design of linear motor driven inverted pendulum based on cSPACE

Abstract

Inverted pendulum is a kind of typical platform for control theory verification. Noted as a non-linear, strong-coupling and natural instable system. In this paper, ironless permanent magnet synchronous linear motor driven inverted pendulum laboratory equipment 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. Control algorithm can be investigated directly on MATLAB/Simulink, and can be generated automatically control code to control inverted pendulum system. Long design time for programming and debugging difficulty are avoided for traditional programming language.The real performance of the driven inverted pendulum is researched in this paper, Based on cSPACE real time control system, the experiment results showed that the control ability of the system is fine.