【作者】 陈岩；

【导师】 刘春生；

【作者基本信息】 南京航空航天大学 ， 控制理论与控制工程， 2003， 硕士

【摘要】 本文研究的是一种计算机控制的位置伺服系统，开发旨在为理论研究和教学提供理想的实验工具。介绍了从系统硬件设计、软件设计、数学模型求取到控制律分析与设计的完整过程。 硬件设计包括位置检测，数据采集和数据转换与输出，并分析了系统硬件的工作原理。 软件设计包括本系统在Windows系统下实现实时控制的方法、虚拟驱动实现、MATLAB联接运行方案、控制器设计扩展接口和用户高级图形数据操作功能实现，文中详述了采用的多任务调度方案、硬件驱动机制、软件接口机制以及高精度定时和多线程机制在系统设计中的应用。 被控对象模型参数的求取采用实验法和辨识相结合，通过系统辨识得到具体参数值。通过对比相同输入作用下的仿真输出和系统实际输出，验证了模型的可靠性。 文中较详细研究了模糊控制的机理和算法，并提供五种既有控制方案供选择：PID控制、串联校正、模糊控制、模糊PID切换控制和模糊PID参数自整定方案，对各种控制律进行了设计，针对系统实际运行结果进行了方案分析和比较。此外，本系统提供了程序接口供用户进行自定义控制方案扩展。更多还原

【Abstract】 In this paper, a Position Servo Systems based on Computer Control is studied. The purpose of developing is to supply experiment tool for theory researching and teaching. The whole process of the development is introduced including hardware and software, the mathematical model acquisition and designing of control algorithm.Hardware development includes measuring of position signal, data acquisition, data converting and outputing. Theory of hardware in system is analysised.The design of software includes realization of real time controlling under Windows Operation System, Virtual device Driver, scheme of running linking to MATLAB. Expanding interface for designing of controller and realization of high-level operation function in graphic-data for user are also included. The application of Multitask scheduler, hardware diver mechanism, software interface mechanism, high-precision timer and multithread are discussed in detail.The mathematical model of the plant is acquired through experiment and system identification. Parameters of the model are gotten by system identification. Through comparing the output of real system with model, the validity of the model is approved.The mechanism and arithmetic of Fuzzy Control are studied detailedly in this paper. Five control schemes are supplied in this system: PID Control, Revision Control system in series, Fuzzy Control, Fuzzy-PID switch control and Fuzzy-PID Parameter Auto-Tuning Controller. The design, analysis and comparing of these schemes based on real result are presented. In addition, the scheme expending based on the program interface to user-defined control is available in this system.更多还原