Research And Design On Real-time Control Experiment Of Single Inverted Pendulum System In MATLAB

Inverted Pendulum is a nonlinear, coupling, variable and natural unsteadiness system. During the control process, pendulum can effectively reflect many pivotal problems such as equanimity, robust, follow-up and track, therefore, it is a perfect model used to testing various control theories. Because of the complexity of this system and the real-time requirement, it needs enormous development to realize the control of the inverted pendulum, and it is very hard to float an efficient experiment for the students. Updating the experiment system become more and more exigent. MATLAB based Hardware in Loop Simulation is a sound way to solve this problem, and this technology is significant to the research of the control strategy of the inverted pendulum, even extend to the development of other experiment devices.This dissertation, based on the study in the theory and application of Hardware in Loop technology, brings forward a tentative plan to realize the real-time control of the inverted pendulum using MATLAB. After carefully analysis and comparison, it decides to use MATALB RTW real-time toolbox to build a real-time control workspace. This workspace administrates the external hardware to control the inverter pendulum by downloading the simulation model generated by Simulink to the target real-time kernel.This dissertation carefully analyses the system construction of the two models of single PC and double PC in MATLAB RTW, and presents how to develop the driver of the third-party devices for the real-time kernel of xPC target, which is a compatible way to use this workspace for the developer.This dissertation designs a series of single inverted pendulum experiments for the undergraduate students, including object modeling, classic control theory and modern control theory. The experiments integrate the mathematical simulation and online real-time control, making the Simulink model sketch as a control station. Experimenters can concentrate on the controller design and parameters adjustment without intricate programming. Using the function of data logging, Experimenters can observe the system historical trend to analyze the control process and tune the corresponding parameters.This dissertation validates the availability of this tentative plan though the inverter pendulum real-time control experiment, and analyzes the difference between mathematical simulation and real-time control. In addition, the successful application in the level control of water tank illuminates the fitness and universality of the workspace.In the end, the dissertation prospects the performance optimize and function enrichment of this workspace, and point out the significance of Hardware in Loop Simulation technology in the continuable development of university laboratory. It is an effective tool used in the experiment design and theory research.