基于小车倒立摆的自动控制原理开放性实验的开发与研究
|
摘要
小车倒立摆是个复杂的控制系统。牵扯到控制算法与伺服控制相互配合的深层次问题。不经过一定开发,本科学生直接在上面完成实验,有相当的难度。为了将这样的实验装置引入到自动控制原理的开放性实验中,需构建一个合适的平台,该平台能使学生的注意力集中于控制算法的探讨上,还要具有良好的人机交互功能,同时还要提供切合学生知识基础和能力的实验内容。
由于倒立摆系统本身对控制系统实时性的苛刻要求,通过WINDOWS操作系统调用硬件供应商提供的基于WINDOWS操作系统的驱动程序来实现这一任务实时性达不到要求,所以选择基于MATLAB RTW实时内核的方式来满足系统对实时性的要求。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。
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。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。另外,本文还简单讲述了在SIMULINK集成环境中实现实时动画仿真。
本文针对高年级本科生设计了一系列直线单级倒立摆控制实验,包括对象数学模型的建立、经典控制理论和现代控制理论几个部分。实验将离线数学仿真和在线实时控制结合起来。另外,本文还对自动控制原理知识进行了扩展,开发了易于学生理解和掌握的有关鲁棒性概念的几个实验。
最后,论文对本文进行了总结,阐述了在实验中解决的几个问题,并制定了今后利用现代网络技术实现远程实验室的工作计划。
Pendulum Systems is a complex control system. Involving combination of control algorithm and servo control. It is hard for undergraduate student to accomplish experiments without further development. In order to bring this experiment system into opening experiment of auto control principle, a proper platform needs to be constructed, which can make student concentrate on control algorithm, provide good interface and suitable experiments according to student’s knowledge and ability.
The dissertation, based on the study in the theory and application of hardware in loop technology, brings forward a tentative plan to realize the real-time control of the inverted pendulum using MATLAB. After carefully analysis and comparison, it decides to use MATLAB RTW real-time toolbox to build a real-time control workspace. This workspace administrates the external hardware to control the inverter pendulum by downloading the simulation model generated by simulink to the target real-time kernel. The dissertation carefully analyses the system construction of the two models of single PC and double PC in MATLAB RTW.
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. It also tells realizing cartoon in SIMULINK.
The dissertation designs a series of single inverted pendulum experiments for the undergraduate and graduate students, including object modeling, classic control theory and modern control theory. The dissertation describes the preparation, process, result of the robust according to analyzing inverted Pendulum.
Lastly, the paper sums up and stats some problems have been solved. Taking realizing long-distance lab as the object.
由于倒立摆系统本身对控制系统实时性的苛刻要求,通过WINDOWS操作系统调用硬件供应商提供的基于WINDOWS操作系统的驱动程序来实现这一任务实时性达不到要求,所以选择基于MATLAB RTW实时内核的方式来满足系统对实时性的要求。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。
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。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。另外,本文还简单讲述了在SIMULINK集成环境中实现实时动画仿真。
本文针对高年级本科生设计了一系列直线单级倒立摆控制实验,包括对象数学模型的建立、经典控制理论和现代控制理论几个部分。实验将离线数学仿真和在线实时控制结合起来。另外,本文还对自动控制原理知识进行了扩展,开发了易于学生理解和掌握的有关鲁棒性概念的几个实验。
最后,论文对本文进行了总结,阐述了在实验中解决的几个问题,并制定了今后利用现代网络技术实现远程实验室的工作计划。
Pendulum Systems is a complex control system. Involving combination of control algorithm and servo control. It is hard for undergraduate student to accomplish experiments without further development. In order to bring this experiment system into opening experiment of auto control principle, a proper platform needs to be constructed, which can make student concentrate on control algorithm, provide good interface and suitable experiments according to student’s knowledge and ability.
The dissertation, based on the study in the theory and application of hardware in loop technology, brings forward a tentative plan to realize the real-time control of the inverted pendulum using MATLAB. After carefully analysis and comparison, it decides to use MATLAB RTW real-time toolbox to build a real-time control workspace. This workspace administrates the external hardware to control the inverter pendulum by downloading the simulation model generated by simulink to the target real-time kernel. The dissertation carefully analyses the system construction of the two models of single PC and double PC in MATLAB RTW.
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. It also tells realizing cartoon in SIMULINK.
The dissertation designs a series of single inverted pendulum experiments for the undergraduate and graduate students, including object modeling, classic control theory and modern control theory. The dissertation describes the preparation, process, result of the robust according to analyzing inverted Pendulum.
Lastly, the paper sums up and stats some problems have been solved. Taking realizing long-distance lab as the object.
引文
[1] 李目.高等院校开放性实验室的网络化管理系统. 实验技术与管理,2007. 1: 100-102
[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] 叶自清. 自动控制课程与实验改革的研究与实践. 今日科苑,2006. 12(6): 55-57
[7] 郑江, 王会龙, 周卫江. 独立学院实践基地建设的探索与实践. 现代企业教育, 2007. 2(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, 2004 (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, 2003, 13(4):44-50
[16] Anderson CW. Learning to control an inverted pendulum using neural networks. IEEE Control System Magazine, 2001, 9(3):31-37
[17] 崔宝侠,杨继平, 方博. 新型变论域模糊控制器在交通信号控制中的应用. 系统仿真学报,2007,2 (1):11-14
[18] 王彪, 唐超颖. 航天器姿态的神经网络动态逆控制. 系统工程与电子技术, 2007, 2(5): 662-666
[19] 王新增, 吴刚亮. 自适应仿人智能控制控制策略研究. 自动化与仪器仪表,2007.1(6):40-45
[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, 2006: 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, 2000, 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, 2003:206-269
[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,2006, 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, 2005
[28] M. Iwashiro, K. Furuta, K.J Astrom. Energy based control of pendulum. Proceedings of IEEE Conference on Control Applications, 2006: 715-720
[29] M. Yahakita, M. Iwashiro, Y Sugahara,K Furuta. Robust Swing-up control of double pendulum. American control conference, 2005: 290-295
[30] Zuren Feng, Zhengqi Y'm, Huitang Chen. Stabilization of a double inverted pendulum by analogue controller. IFAC Triennial World Congress, 2005:3443-3448
[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] 湛力,许庆晗, 陈雯柏. 基于 Lie 理论的倒立摆系统的控制算法研究. 计算机仿真,2006.9:34
[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,2006.11:4-5
[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,2005.8:84
[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] 李占灵. MATLAB 在过程计算和 Kellogg 氨合成塔模拟中的应用. 计算机与应用化学,2006. 10: 21-22
[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
[42] 固高教学产品 MATALB 实时控制软件用户手册 . 固高科技(深圳)有限公司,2006.12:15-16
[43] 李钟慎.基于 GUIDE 设计 CAI 课件的 GUI,电气电子教学学报,2002,24(6):91-93
[44] Creating Graphical User Interfaces. The MathWorks Inc, 2002.6.23
[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
[49] 刘豹.现代控制理论.机械工业出版社,2003:272-273
[50] 李东,陈强,孙振国, 刘鹏飞. 倒立摆教学实验系统的设计与应用. 实验技术与管理,2006. 9: 100-102
[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] 叶自清. 自动控制课程与实验改革的研究与实践. 今日科苑,2006. 12(6): 55-57
[7] 郑江, 王会龙, 周卫江. 独立学院实践基地建设的探索与实践. 现代企业教育, 2007. 2(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, 2004 (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, 2003, 13(4):44-50
[16] Anderson CW. Learning to control an inverted pendulum using neural networks. IEEE Control System Magazine, 2001, 9(3):31-37
[17] 崔宝侠,杨继平, 方博. 新型变论域模糊控制器在交通信号控制中的应用. 系统仿真学报,2007,2 (1):11-14
[18] 王彪, 唐超颖. 航天器姿态的神经网络动态逆控制. 系统工程与电子技术, 2007, 2(5): 662-666
[19] 王新增, 吴刚亮. 自适应仿人智能控制控制策略研究. 自动化与仪器仪表,2007.1(6):40-45
[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, 2006: 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, 2000, 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, 2003:206-269
[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,2006, 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, 2005
[28] M. Iwashiro, K. Furuta, K.J Astrom. Energy based control of pendulum. Proceedings of IEEE Conference on Control Applications, 2006: 715-720
[29] M. Yahakita, M. Iwashiro, Y Sugahara,K Furuta. Robust Swing-up control of double pendulum. American control conference, 2005: 290-295
[30] Zuren Feng, Zhengqi Y'm, Huitang Chen. Stabilization of a double inverted pendulum by analogue controller. IFAC Triennial World Congress, 2005:3443-3448
[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] 湛力,许庆晗, 陈雯柏. 基于 Lie 理论的倒立摆系统的控制算法研究. 计算机仿真,2006.9:34
[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,2006.11:4-5
[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,2005.8:84
[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] 李占灵. MATLAB 在过程计算和 Kellogg 氨合成塔模拟中的应用. 计算机与应用化学,2006. 10: 21-22
[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
[42] 固高教学产品 MATALB 实时控制软件用户手册 . 固高科技(深圳)有限公司,2006.12:15-16
[43] 李钟慎.基于 GUIDE 设计 CAI 课件的 GUI,电气电子教学学报,2002,24(6):91-93
[44] Creating Graphical User Interfaces. The MathWorks Inc, 2002.6.23
[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
[49] 刘豹.现代控制理论.机械工业出版社,2003:272-273
[50] 李东,陈强,孙振国, 刘鹏飞. 倒立摆教学实验系统的设计与应用. 实验技术与管理,2006. 9: 100-102