基于NI cRIO的球杆系统测控平台  

Measurement and Control Platform of Ball-beam System Based on NI cRIO

作　　者：王恒升[1] 魏学锋[1] 薛云[1] 

机构地区：[1]中南大学机电工程学院,湖南长沙410075

出　　处：《控制工程》2009年第3期327-330,共4页Control Engineering of China

摘　　要：设计了基于NI嵌入式可重配置输入输出自动化控制器实现的球杆系统测控平台,介绍了硬件配置及模块功能。直流伺服电机的电枢电流测量、转子角位移测量和球的直线位置测量都是在FPGA上实现的,由硬件保证了短的测量周期;相应的电流控制环、转角位置环及球的位置环PID控制器也是在FPGA上实现的。给出FPGA的程序体系结构及转角测量的LabVIEW程序。说明了由嵌入式控制器cR IO 9014实现的主要功能和程序流程,给出PC机监控界面。该系统不只实现了球杆系统的快速控制,还提供了测试平台以进一步研究系统的非线性特性。A measurement and control platform for the ball-beam system is designed using NI compact reconfigurable I/O programmable automation controller. The hardware configuration and the software function modules are introduced. The measurement of the motor armature current, the rotor angle displacement, ball linear displacement are accomplished in FPGA, which has the short measurement cycle by hardware. Consequently, the current control loop, the rotor angle displacement loop, and the ball linear displacement loop are all accomplished in FPGA. The details of FPGA program architecture and the LabVIEW program of rotor angle measurement are introduced. The main functions of the embedded controller cRIO 9014, its program flow chart, and the PC monitoring interface are also introduced. The platform can be used not only for the swift ball-beam balancing control, but for the non-linear characteristics analysis and experimental modeling of the ball and beam system.

关 键 词：球杆系统 NIcRIO 测控平台 LABVIEW 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]