Research And Implementation Of Control System Based On Quanser Semi-physical Simulation Experiment Platform

Quanser experiment device is a real-time control and experimental platform developed by the Quanser Inc. of Canada.The biggest advantage of Quanser semi-physical simulation experiment equipment is its modular design,which is different controlled objects can be loaded on the same movement module.Modular design allows users to easily combinate from one experiment to another experiment,at the same time it can reduce the cost of the experiment.Quanser system is a multivariable system which is strongly coupled and under-actuated.The main research object of this thesis is 2-DOF robot,rotating frame and planar inverted pendulum.The running control can be achieved by control strategy such as PID control,state feedback control,nonlinear control.The main contents and innovation are summarized as follows:(1) 2-DOF robot system’s structure and mathematical model is introduced,and then according to certain time domain requirements and the related control theory.the PID controller is designed.Simulink simulation model and the hardware-in-loop simulation system are established and conducted,and the 2-DOF planar robot trajectory tracking control is realized.(2) 2-DOF rotating frame system’s structure and mathematical model is introduced,and then on the basis of related theorems,the stability,controllability and observability of the system are obtained.According to the basic theory of linear quadratic regulator,the LQR controller was designed with the mathematical model.Off-line simulation and on-line experiment was carried out respectively.and the effectiveness of the controller is confirmed.(3) Based on sliding variable structure control basic theory,switch function’s solution is studied and analyzed.Constant switch controller is designed and simulated.but the result displayed serious vibration.So after analyzing the vibration’s cause.the saturation function and exponential approach law can weaken the vibration and their effectiveness is confirmed by simulation.Analyze the experimental results of the two methods comprehensively,it is concluded that the control effect of exponential approach law is better.Then semi-physical simulation experiment was carried out,and the effect of exponential approach law is confirmed.(4) Planar inverted pendulum system’s structure and mathematical model is introduced,and then the performance of the system is obtained.In order to enhance the system’s robustness.based on the augmented LQR control theory,augmented LQR controller is designed with the mathematical model.Simulation system of planar inverted pendulum is established and conducted.and then the experimental results are obtained and analyzed.