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基于倒立摆对控制系统实时性要求苛刻,选择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。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。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。另外,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实验。
The real-time control system based on inverted pendulum harsh real-time requirements, select real-time RTL RTW kernel way to meet the requirements of real-time system, the Simulink generated simulation model downloaded to the target real-time kernel running to drive external hardware devices to achieve inverted pendulum control. Application of Matlab graphical user interface development environment GUIDE design and development of friendly interface, fully functional graphical user interface, offline simulation and real-time control of organic combination. A series of control experiments of linear single-stage inverted pendulum are designed for undergraduates of higher grades, including the establishment of mathematical models of objects, classical control theory and modern control theory. In addition, the knowledge of the principle of automatic control was expanded and experiments on the concept of robustness, which were easy for students to understand and master, were developed.