MATLAB环境下控制系统综合实验平台设计与实现
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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。
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.
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。
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.
引文
[1] 魏衡华.“系统与控制”实验教学研究与建设[EB/OL]. [2006-3-5].http://www.teach.ustc.edu. cn/experiment/page2.htm
[2] 仇润鹤,方建安,唐明浩,吴庆彪, 王坚.建立培养创新能力的综合实验平台.实验室研究与探索,2005,24(增刊):252-254
[3] 张晓明 多种多级倒立摆系统控制和仿真环境的研究.南京航空航天大学硕士论文.2003.1
[4] 刘时鹏 Matlab 环境下直线单级倒立摆系统实时控制实验的研究与设计.重庆大学硕士学位论文,2004.6
[5] 王建君,李晓峰.验证性实验教学改革之我见.实验室研究与探索,2004.24(7):59-60.
[6] 杨明波,赵玮霖,陈健,杨惠.高校开放实验教学改革浅谈.重庆工业高等专科学校学报,2004. 19(6): 100-102.
[7] 董壮龙,杨秀清.研究型实验教学与学生创新能力的培养.新乡师范高等专科学校学报, 2004. 18(2): 63-66.
[8] 张湘平,覃川笑,郑志强.让自动控制实验在网络中延伸.实验室研究与探索,2005.24(增刊): 255- 257
[9] 林光云.基于 Web 的倒立摆远程监控系统研究.浙江工业大学硕士学位论文,2004.5
[10] 王轶卿.网络环境下倒立摆系统控制问题的研究.南京工业大学硕士学位论文,2004.11
[11] 陈俊,石刚,周江,邹凤梧.基于倒立摆的网络实验平台研究.广西工学院学报, 2004.15(2): 54- 57
[12] 张姝,朱善安.基于Internet的倒立摆网络控制系统.实验室研究与探索,2004.7,23(7):24-27
[13] Jianqiang Yi, Naoyoshi, Yubazaki, Kaoru Hirota. Upswing and stabilization control of inverted pendulum system based on the SIRMs dynamically connected fuzzy inference model. Fuzzy Sets and Systems, 2001 (122):139–152
[14] 黄苑虹.倒立摆系统的稳定控制研究.广东工业大学硕士论文,2002.5
[15] Van der Linden GW, Lambrechts PF. H∞ control of an experimental inverted pendulum with dry friction. IEEE Control Systems Magazine, 1993, 13(4):44-50.
[16] Anderson CW. Learning to control an inverted pendulum using neural networks. IEEE Control System Magazine, 1989, 9(3):31-37.
[17] 王建辉,杨大鹏,顾树生.带有自调整因子和积分校正环节的双环模糊控制系统的研究.沈阳工业大学学报,1998,20(1):11-14
[18] 蒋国飞,吴沧浦.基于 Q 学习算法和 BP 神经网络的倒立摆控制.自动化学报, 1998, 24(5): 662-666
[19] 李士勇.模糊控制神经控制和智能控制论.哈尔滨:哈尔滨工业大学出版社,1998.9
[20] 世界首例四级倒立摆实物控制系统在我校试验成功.北京师范大学学报,2002,38(5)
[21] W Torres-Pomales, O.R. Gonzalez. Nonlinear control of swing-up inverted pendulum. IEEE International Conference on Control Applications, 1996: 259-264.
[22] A. moue, K Nakayasu, S. Masuda. A swing up control of an inverted pendulum using a sliding mode control. The 3rd International Conference on Motion and Vibration Control, 1996, 449- 454.
[23] K. Furuta, M. Yamakita, S. Kobayashi. Swing-up control of inverted pendulum using pseudo- state feedback. Proceedings of the Institute of Mechanical Engineers, Part 1: Journal of Systems and Control Engineering, 1992:206-269.
[24] 李祖枢.力矩受限单摆的摆起倒立控制——仿人智能控制在非线性系统中的应用.控制理论与应用,1999(2).
[25] K.J. Astrom, K. Furuta. Swinging up a pendulum by energy control. Proceedings of the 13th IFAC World Congress, San Francesco,1996, E:37-52.
[26] K.J. Astrom, K. Furuta. Swinging up a pendulum by energy control. Automatics, 2000, 36: 287-293.
[27] K.J. Astrom, K. Furuta, M. Iwashiro, T. Hoshino. Energy based strategies far swinging up a double pendulum. In IFAC World Congress, Beijing, China, 1995.
[28] M. Iwashiro, K. Furuta, K.J Astrom. Energy based control of pendulum. Proceedings of IEEE Conference on Control Applications, 1996: 715-720.
[29] M. Yahakita, M. Iwashiro, Y Sugahara,K Furuta. Robust Swing-up control of double pendulum. American control conference, 1995: 290-295.
[30] Zuren Feng, Zhengqi Y'm, Huitang Chen. Stabilization of a double inverted pendulum by analogue controller. IFAC Triennial World Congress, 1985:3443-3448.
[31] Kouda, N.; Matsui, N.; Nishimura, H.; Control for swing-up of an inverted pendulum using qubit neural network. SICE 2002. Proceedings of the 41st SICE Annual Conference, 2002.2: 765-770.
[32] Yasunobu, S.; Yamasalci, H..Evolutionary control method and swing up and stabilization control of inverted pendulum. IFSA Congress and 20th NAFIPS International Conference, 2001.4 Joint 9th:25-28. July 2001, 4:2078-2083.
[33] 薛 安 克 , 王 俊 宏 , 柴 利 , 王 惠 姣 . 倒 立 摆 控 制 仿 真 与 试 验 研 究 现 状 ,[EB/OL] http://www.googoltech.com.cn/uploads/catalog/1049/2.pdf
[34] 固高科技(深圳)有限公司. 倒立摆(教学实验设备)GIP 系列使用说明书,2002.11:4-5.
[35] 固高科技(深圳)有限公司. 中国科学技术大学.固高摆系统与自动控制实验,2002.8:84.
[36] 孙守阁,徐勇.Windows 设备驱动程序技术内幕.北京:清华大学出版社,2000.5.1.
[37] Matlab 简介.http://www.fosu.edu.cn/li/math/SXRJ/Matlab/MatlabJIANJIE.htm
[38] 张志涌. 精通 Matlab6.5 版.北京:北京航空航天大学出版社,2003.1
[39] Real-Time Windows Target User's GUIDE. The MathWorks Inc, 2002.6.8
[40] 杨涤,李立涛,杨旭,朱承元.系统实时仿真开发环境与应用.北京:清华大学出版社,2002.10
[41] Target Language Compiler. The MathWorks Inc,2002.4.6
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[45] 龙利.MATLAB 环境下控制系统实时仿真实验的研究,重庆大学硕士学位论文,2005.5
[46] 姚俊,马松辉.Simulink 建模与仿真.西安:西安电子科技大学出版社,2002:235-236
[47] 李斌,何济民.现代控制理论.重庆大学出版社,2003:236-238
[48] 胡寿松.自动控制原理.科学出版社,2001:559-569
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[50] dSPACE-实时快速原型及硬件在回路仿真的一体化解决途径.九州恒润编著.2003.1
[2] 仇润鹤,方建安,唐明浩,吴庆彪, 王坚.建立培养创新能力的综合实验平台.实验室研究与探索,2005,24(增刊):252-254
[3] 张晓明 多种多级倒立摆系统控制和仿真环境的研究.南京航空航天大学硕士论文.2003.1
[4] 刘时鹏 Matlab 环境下直线单级倒立摆系统实时控制实验的研究与设计.重庆大学硕士学位论文,2004.6
[5] 王建君,李晓峰.验证性实验教学改革之我见.实验室研究与探索,2004.24(7):59-60.
[6] 杨明波,赵玮霖,陈健,杨惠.高校开放实验教学改革浅谈.重庆工业高等专科学校学报,2004. 19(6): 100-102.
[7] 董壮龙,杨秀清.研究型实验教学与学生创新能力的培养.新乡师范高等专科学校学报, 2004. 18(2): 63-66.
[8] 张湘平,覃川笑,郑志强.让自动控制实验在网络中延伸.实验室研究与探索,2005.24(增刊): 255- 257
[9] 林光云.基于 Web 的倒立摆远程监控系统研究.浙江工业大学硕士学位论文,2004.5
[10] 王轶卿.网络环境下倒立摆系统控制问题的研究.南京工业大学硕士学位论文,2004.11
[11] 陈俊,石刚,周江,邹凤梧.基于倒立摆的网络实验平台研究.广西工学院学报, 2004.15(2): 54- 57
[12] 张姝,朱善安.基于Internet的倒立摆网络控制系统.实验室研究与探索,2004.7,23(7):24-27
[13] Jianqiang Yi, Naoyoshi, Yubazaki, Kaoru Hirota. Upswing and stabilization control of inverted pendulum system based on the SIRMs dynamically connected fuzzy inference model. Fuzzy Sets and Systems, 2001 (122):139–152
[14] 黄苑虹.倒立摆系统的稳定控制研究.广东工业大学硕士论文,2002.5
[15] Van der Linden GW, Lambrechts PF. H∞ control of an experimental inverted pendulum with dry friction. IEEE Control Systems Magazine, 1993, 13(4):44-50.
[16] Anderson CW. Learning to control an inverted pendulum using neural networks. IEEE Control System Magazine, 1989, 9(3):31-37.
[17] 王建辉,杨大鹏,顾树生.带有自调整因子和积分校正环节的双环模糊控制系统的研究.沈阳工业大学学报,1998,20(1):11-14
[18] 蒋国飞,吴沧浦.基于 Q 学习算法和 BP 神经网络的倒立摆控制.自动化学报, 1998, 24(5): 662-666
[19] 李士勇.模糊控制神经控制和智能控制论.哈尔滨:哈尔滨工业大学出版社,1998.9
[20] 世界首例四级倒立摆实物控制系统在我校试验成功.北京师范大学学报,2002,38(5)
[21] W Torres-Pomales, O.R. Gonzalez. Nonlinear control of swing-up inverted pendulum. IEEE International Conference on Control Applications, 1996: 259-264.
[22] A. moue, K Nakayasu, S. Masuda. A swing up control of an inverted pendulum using a sliding mode control. The 3rd International Conference on Motion and Vibration Control, 1996, 449- 454.
[23] K. Furuta, M. Yamakita, S. Kobayashi. Swing-up control of inverted pendulum using pseudo- state feedback. Proceedings of the Institute of Mechanical Engineers, Part 1: Journal of Systems and Control Engineering, 1992:206-269.
[24] 李祖枢.力矩受限单摆的摆起倒立控制——仿人智能控制在非线性系统中的应用.控制理论与应用,1999(2).
[25] K.J. Astrom, K. Furuta. Swinging up a pendulum by energy control. Proceedings of the 13th IFAC World Congress, San Francesco,1996, E:37-52.
[26] K.J. Astrom, K. Furuta. Swinging up a pendulum by energy control. Automatics, 2000, 36: 287-293.
[27] K.J. Astrom, K. Furuta, M. Iwashiro, T. Hoshino. Energy based strategies far swinging up a double pendulum. In IFAC World Congress, Beijing, China, 1995.
[28] M. Iwashiro, K. Furuta, K.J Astrom. Energy based control of pendulum. Proceedings of IEEE Conference on Control Applications, 1996: 715-720.
[29] M. Yahakita, M. Iwashiro, Y Sugahara,K Furuta. Robust Swing-up control of double pendulum. American control conference, 1995: 290-295.
[30] Zuren Feng, Zhengqi Y'm, Huitang Chen. Stabilization of a double inverted pendulum by analogue controller. IFAC Triennial World Congress, 1985:3443-3448.
[31] Kouda, N.; Matsui, N.; Nishimura, H.; Control for swing-up of an inverted pendulum using qubit neural network. SICE 2002. Proceedings of the 41st SICE Annual Conference, 2002.2: 765-770.
[32] Yasunobu, S.; Yamasalci, H..Evolutionary control method and swing up and stabilization control of inverted pendulum. IFSA Congress and 20th NAFIPS International Conference, 2001.4 Joint 9th:25-28. July 2001, 4:2078-2083.
[33] 薛 安 克 , 王 俊 宏 , 柴 利 , 王 惠 姣 . 倒 立 摆 控 制 仿 真 与 试 验 研 究 现 状 ,[EB/OL] http://www.googoltech.com.cn/uploads/catalog/1049/2.pdf
[34] 固高科技(深圳)有限公司. 倒立摆(教学实验设备)GIP 系列使用说明书,2002.11:4-5.
[35] 固高科技(深圳)有限公司. 中国科学技术大学.固高摆系统与自动控制实验,2002.8:84.
[36] 孙守阁,徐勇.Windows 设备驱动程序技术内幕.北京:清华大学出版社,2000.5.1.
[37] Matlab 简介.http://www.fosu.edu.cn/li/math/SXRJ/Matlab/MatlabJIANJIE.htm
[38] 张志涌. 精通 Matlab6.5 版.北京:北京航空航天大学出版社,2003.1
[39] Real-Time Windows Target User's GUIDE. The MathWorks Inc, 2002.6.8
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