【作者】 张赟宁；

【导师】 陈今润；

【作者基本信息】 重庆大学 ， 检测技术及自动化装置， 2006， 硕士

【摘要】 倒立摆系统是非线性、强耦合、多变量和自然不稳定的系统。在控制过程中,它能有效地反映诸如可镇定性、鲁棒性、随动性以及跟踪等许多控制中的关键问题,是检验各种控制理论的理想模型。由于倒立摆实物系统本身具有的复杂性和对实时性的高要求,为实现控制要求需要付出庞大的开发量,针对学生开设有效的实验课程更是难上加难,迫切需要更新实验体系。基于MATLAB的Real-Time Windows Target实时内核是现阶段满足这一需要的合理方法,对倒立摆控制策略的研究乃至于推广到其他实验设备的开发具有重大的现实意义。本文通过对当前实时控制的应用研究,提出了将离线仿真与实时控制有机结合起来,利用MATLAB实现对直线单级倒立摆实时控制的思路。经过分析比较,确定了基于MATLAB的Real-Time Windows Target实时内核开发硬件驱动程序的实时控制方案,将Simulink生成的仿真模型下载到目标实时内核中运行,驱动外部硬件设备,实现对倒立摆的控制。文中介绍的在Real-Time Windows Target实时内核环境中开发第三方设备驱动程序的方法,是构建本实验平台的核心技术之一,具有普遍适用性,有一定的推广价值。本文应用MATLAB图形用户界面的开发环境GUIDE设计开发出界面友好、功能完善的图形用户界面,将离线仿真与实时控制有机结合起来,经过对实物的具体分析,用离线仿真的结果指导实时控制;还可以使学生绕开艰涩的硬件编程和繁琐的软件设计,集中精力于控制器结构的设计和参数整定,为学生进行开放性、设计性实验提供有力基础。图形用户界面还能记录实验数据,以便观察系统的历史趋势曲线,对控制过程进行分析。本文通过倒立摆的实时控制实验验证了该平台的优越性,并分析了造成离线数学仿真和实时控制效果之间差异的原因。由于各实验相互独立,且Windows操作系统以及Matlab软件均支持开放性的接口标准,使得本平台具有良好的扩展性、开放性。最后,论文对本平台的特点进行了总结,并对优化该平台性能,丰富该平台功能进行了展望,指出了在Real-Time Windows Target实时内核环境中进行实时控制实验在高校实验室可持续建设中具有的重要作用,为今后的实验开发以及理论研究提供了一个事半功倍的工具。更多还原

【Abstract】 Inverted Pendulum is a nonlinear, coupling, variable and natural unsteadiness system. During the control process, pendulum can effectively reflect many pivotal problems such as equanimity, robust, follow-up and track, therefore, it is a perfect model used to testing various control theories. Because of the complexity of this system and the hard real-time requirement, it needs enormous development to realize the control of the inverted pendulum, and it is very hard to float an efficient experiment for the students. Updating the experiment system becomes more and more exigent. Real-Time Windows Target kernel based on Matlab is a sound way to solve this problem, and this technology is significant to the research of the control strategy of the inverted pendulum, even extend to the development of other experiment devices.This dissertation, based on the study in real-time control and its application, brings forward a notion to integrate offline simulation and real-time control, and to realize the real-time control of the inverted pendulum using MATLAB. After carefully analysis and comparison, it decides to develop the hardware driver based on MATALB RTWT real-time kernel to realize real-time control. This project administrates the external hardware to control the inverter pendulum by downloading the simulation model generated by Simulink to the target real-time kernel. The approach of develop a third part hardware driver is one of the hard cores to build the platform, which is a universal method and can be generalized.The dissertation designs friendly GUI that integrates offline simulation and real-time control. The result of offline simulation can be used as direction to real-time control after analysis to material object. The GUI can also make the experimenters keep away from abstruse hardware design and fuzzy software program, and make them bone up on the design of control algorithm and parameter tone. The GUI can store the experiment data and draw the response curve, so that experimenters can study the control process.The dissertation attests to the advantages of the platform by real-time control experiment on inverted pendulum, and analyses the difference between result of offline simulation and effect of real-time control. Because of the independence among the experiments and the openness of Windows operation system and Matlab, the platform is of good expansibility and openness.更多还原