| Pendulum Systems is a complex control system. Involving combination of control algorithm and servo control. It is hard for undergraduate student to accomplish experiments without further development. In order to bring this experiment system into opening experiment of auto control principle, a proper platform needs to be constructed, which can make student concentrate on control algorithm, provide good interface and suitable experiments according to student's knowledge and ability.The 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 MATLAB 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. The dissertation carefully analyses the system construction of the two models of single PC and double PC in MATLAB RTW.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. It also tells realizing cartoon in SIMULINK.The dissertation designs a series of single inverted pendulum experiments for the undergraduate and graduate students, including object modeling, classic control theory and modern control theory. The dissertation describes the preparation, process, result of the robust according to analyzing inverted Pendulum.Lastly, the paper sums up and stats some problems have been solved. Taking realizing long-distance lab as the object. |
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