【摘要】 自动化本科专业《计算机控制技术》课,是实现从控制理论走向控制工程(应用)的桥梁。这门课介绍了基于状态空间模型的先进控制技术,但控制律的复杂性给设计和实现带来了困难。以工业自动化常用的电机伺服系统作为控制对象,采用闭环阻尼和自然频率等作为关键可调参数,设计了全参数化的伺服控制律,并利用TMS320F28335DSC编程工具,搭建了一个计算机控制半实物仿真实验平台,用户可借助代码调制器作为操作界面,在线调整控制律的参数,观察实时控制效果。平台提高了实验教学的效率,增强了学生对先进控制技术的领悟和对自动化专业的认同感。由于控制律具有通用性,平台也能用于相关课程如《运动控制系统》的实验教学,若稍加改造则可用到工业伺服应用中。更多还原

【Abstract】 The module of computer control technology is typically taught to senior students majoring in automation,aiming to bridge the gap between control theory and control engineering (application). The module covers some advanced control techniques based on state-space model,but the complexity of such control laws poses a difficulty for design and implementation. Targeting for motor servo systems universal in industrial automation,a fully-parameterized digital control law was designed in this paper using the closed-loop damping ratio and natural frequency as fundamental tuning parameters. The control law was then programmed and implemented on a TMS320F28335 digital signal controller (DSC) board,and a computer control HIL (hardware-in-loop) testbed was constructed. With the testbed,users can manipulate the controller parameters and observe the real-time control performance via the user interface of Code Composer Studio (CCS) software. The testbed improves the efficiency of experimental training. It also helps the students better appreciate the potential of advanced control techniques and thus enhances their identity with the major of automation. The generality of the control law enables the testbed to be employed in the experimental training of relevant modules,such as motion control system. The testbed may also be used in industrial servo application after some renovations.更多还原