基于动态引擎的控制理论3D仿真实验平台设计  

The Design of 3D Simulation Platform for Control Theory Based on Open Dynamic Engine

作　　者：张梅[1] 王飞活 何婉红 高红霞[1] 

机构地区：[1]华南理工大学自动化科学与工程学院

出　　处：《自动化与信息工程》2015年第4期12-17,共6页Automation & Information Engineering

基　　金：广东省精品课程"自动控制原理精品课程建设"项目;华南理工大学教学改革项目"基于设计的现代控制理论课程改革"

摘　　要：为更好地理解和验证控制理论知识,采用开源物理引擎和Visual Studio 2005设计并实现倒立摆3D虚拟仿真实验平台。该平台既可通过设置PID参数或配置极点等方法验证控制理论,也可利用Matlab或VC++自行编写其他控制算法,并生成相应的动态链接库以供平台调用和测试。实验表明,该平台能够提供一个虚拟直观、操作性强、兼容性和开放性好的控制系统实验环境。To make users understand and verify the control theory, a virtual simulation experimental platform of single inverted pendulum is developed based on ODE（Open Dynamic Engine） and Visual Studio 2005. Users can verify the control theory by setting the PID parameter, configuration of poles or other ways. And they can also program control algorithm based on Matlab and C＋＋, and then generate a dynamic link library for the platform to call it, which improve the openness of the experimental platform. The realization of this platform shows that it can provide a virtual but intuitive experimental environment of control system with strong operability and good compatibility and openness for the users. So that it can eonsoUdate the theoretical knowledge of the users and make the effects of simulation be more realistic quality.

关 键 词：倒立摆 开源物理引擎 MATLAB 虚拟仿真实验平台 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程] TP391.9[自动化与计算机技术—控制科学与工程]