简易旋转倒立摆及控制装置（C题）摘 要本次比赛我们所选的题目是“简易旋转倒立摆及其控制系统”，本系统包括单片机、运动转盘、伺服机、转动轴和光电码盘几大部分，组成了一个闭环系统。导电塑料角位移传感器将摆杆的位置、速度信号由光电编码器盘反馈控制系统（单片机）。单片机从运动控制卡中读取实时数据，确定控制决策（运动转盘向哪个方向移动、移动速度、加速度等），并由运动控制卡来实现该控制决策，产生相应的控制量，使电机转动，带动运动转盘，可以摆杆转动或寻找平衡。关键词：单片机系统，伺服机，转台。Abstract: Abstract:The structure shown as inverted pendulum. The system comprises a singlechip, moving turntable, servo mechanism, a rotating shaft and photoelectric encoder in several parts, to form a closed loop system. Position, speed signal encoder will swing by the photoelectric encoder feedback control system (SCM). SCM from the motion control card read real-time data, determine the control decision (moving turntable movement, in which direction to move speed, acceleration and so on), and the motion control card to realize the control decision, produce corresponding control variable, so that the rotation of the motor, drive turntable, can the swing rod to rotate or finding balance.Keyword: Single c