Design And Realization Of Experiment Platform Of Control 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 hard 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 becomes more and more exigent. Real-Time Windows Target kernel based on Matlab 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 real-time control and its application, brings forward a notion to integrate offline simulation and real-time control, and to realize the real-time control of the inverted pendulum using MATLAB. After carefully analysis and comparison, it decides to develop the hardware driver based on MATALB RTWT real-time kernel to realize real-time control. This project administrates the external hardware to control the inverter pendulum by downloading the simulation model generated by Simulink to the target real-time kernel. The approach of develop a third part hardware driver is one of the hard cores to build the platform, which is a universal method and can be generalized.The dissertation designs friendly GUI that integrates offline simulation and real-time control. The result of offline simulation can be used as direction to real-time control after analysis to material object. The GUI can also make the experimenters keep away from abstruse hardware design and fuzzy software program, and make them bone up on the design of control algorithm and parameter tone. The GUI can store the experiment data and draw the response curve, so that experimenters can study the control process.The dissertation attests to the advantages of the platform by real-time control experiment on inverted pendulum, and analyses the difference between result of offline simulation and effect of real-time control. Because of the independence among the experiments and the openness of Windows operation system and Matlab, the platform is of good expansibility and openness.