【作者】 潘峰； 薛定宇； 陈大力； 崔建江；

【Author】 Feng Pan,Dingyu Xue,Dali Chen,Jianjiang Cui School of Information Science and Engineering,Northeastern University,Shenyang,110004

【机构】 东北大学信息科学与工程学院；

【摘要】 应用半实物仿真技术,基于MATLAB/Simulink控制系统设计与测试环境,设计实现了旋转倒立摆运动控制半实物仿真平台。建立了实际受控对象一级和二级倒立摆的数学模型,应用最优控制方法设计系统控制器,将其放置在仿真系统回路中进行研究,建立虚拟仪表,在线观测系统动态性能,验证了控制策略的有效性。实验结果表明,该系统是进行控制理论应用研究的理想平台。更多还原

【Abstract】 Based on MATLAB/Simulink control system design and testing environment,the rotary inverted pendulum motion control hardware-in-the-loop simulation platform is designed and implemented by applying hardware-in-the-loop simulation technology.The system mathematical models of single and double inverted pendulums are obtained.The optimal control method is adopted to design the controller and the inverted pendulum is studied in the simulation system loop.We can observe the system dynamic performance in online by building up virtual instruments and verify the effectiveness of the control strategy.The results show that this system is the ideal platform to research and apply control theory.更多还原