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LabWindows/CVI在倒立摆控制系统中的应用
The Application of Lab Windows/CVI in Inverted Pendulum Control System
【作者】 张燕；
【导师】 陈华；
【作者基本信息】 新疆大学 ， 控制理论与控制工程， 2011， 硕士
【摘要】 作为高阶、强耦合、非线性的绝对不稳定的倒立摆系统,长期以来被认为是控制理论及应用领域里极具挑战性的课题,是自动控制试验中检验控制策略优劣的实验装置,以这种富有趣味性的倒立摆系统为被控对象,极大地提高了专家学者们的兴趣。目前许多对倒立摆系统研究的论著都是基于MATLAB平台,能否开发其他控制软件控制倒立摆系统也很受关注制。本文根据虚拟仪器技术强大的功能和广阔的应用领域,尝试使用一种新的控制软件来研究倒立摆控制系统。结合软件的应用前景和倒立摆系统特点,本文以LabWindows/CVI为开发平台,以直线一级倒立摆为控制对象,介绍了倒立摆控制系统的组成以及固高运动控制器的工作原理;分析了倒立摆系统的数学模型,并在MATLAB环境中对几种控制算法进行仿真实验。重点叙述了LabWindows/CVI软件使用外部模块实现GT库函数调用的三种方法,比较并选择了动态链接库技术,成功地引用GT库函数完成对倒立摆的控制,实现了软件对被控对象的数据采集。另外,考虑到倒立摆系统较强的实时性,比较了Windows操作系统与LabWindows/CVI软件中的定时器,最后利用软件中的异步定时器实现对倒立摆的控制。这种新的开发软件在经典研究对象中的应用,不仅体现了开发软件Lab Windows/CVI强大的功能和广阔的应用领域,而且为研究倒立摆系统提出新的控制软件,拓宽了研究对象的应用领域,更多的节约了实验设备,同时软硬件技术的结合也促进了控制理论的快速发展。
【Abstract】 The inverted pendulum system,as a high order, strong coupling, nonlinear absolute unstable system, is believed to be a challenging task in control theory and its application field for a long time.It is an experiment device for quality inspection of control strategy in automation experiments. It is so much fun doing research of the inverted pendulum system ,which has aroused great interest of the experts and scholars. At present many of the inverted pendulum system research works are based on MATLAB platform, control software is restricted. Based on the strong function of virtual instrument technology and its unceasingly expanding application domain, a new control software is adopted to study the inverted pendulum control system.Based on the hardware and software research background and its development prospects, the composition of the inverted pendulum control system and Gugao motion controller working principles are introduced in the paper, adopting the linear first-order inverted pendulum as the measurement and control object, LabWindows/CVI software as the developing platform. It also includes the analysis of inverted pendulum mathematic model and several control algorithm simulation experiment in MATLAB.It stresses three ways of using an external module to realize GT library function call in LabWindows/CVI software, and chooses the DLL technology after comparing, successfully quotes GT library to realize the inverted pendulum control and software data collection. In addition, considering the strong real-time of the inverted pendulum system and comparing the timers from Windows operating system and LabWindows/CVI, an asynchronous timer of the software is adopted to realize the control of the inverted pendulum.The idea of new software application used in classical control object not only reflectes the powerful and broad application field of the new software‘Lab Windows/CVI’, but it also proposes new control software into the research of the inverted pendulum system, broadens the research object applications, and saves more laboratory equipment.Meanwhile, the combination of the software and hardware technology also promotes the rapid development of control theory.