基于CAN FD的分布式倒立摆控制系统  

Distributed Control System of Inverted Pendulum Based on CAN FD

作　　者：张力[1] 周美娇[1] 张凤登[1] ZHANG Li;ZHOU Mei-jiao;ZHANG Feng-deng(School of Optical-Electrical&Computer Engineering,University of Shanghai for Science&Technology,Shanghai 200093,China)

机构地区：[1]上海理工大学光电信息与计算机工程学院,上海200093

出　　处：《软件导刊》2021年第2期124-128,共5页Software Guide

基　　金：上海市自然科学基金项目(15ZR1429300)。

摘　　要：为实现倒立摆系统彻底的“全分布式控制”,提出一种基于PID算法的优化分布式动态切换策略控制算法,对直线倒立摆系统进行分布式控制,并使用MATALB仿真得到可靠的PID参数,以缩小硬件设计中参数整定的凑试范围。利用NXP的LPC54618微控制器,采用合理的CAN FD节点布置,完成各节点软硬件设计,实现对倒立摆的实时控制。通过CANoe测试及诊断功能得到CAN FD总线在分布式控制中的各项性能指标。结果表明,分布式控制实现了稳摆,该总线协议在典型的分布式控制系统中将响应时间响应时间缩短了33.88%,总线负载率减少了35%。In order to realize the“fully distributed control”of the inverted pendulum system,an optimal distributed dynamic switching strategy control algorithm based on PID algorithm is proposed to control the linear inverted pendulum system,and reliable PID parameters are obtained by MATLB simulation,so as to reduce the trial range of parameter setting in hardware design.By using the LPC54618 microcontroller of NXP and reasonable CAN FD node arrangement,the hardware and software design of each node is completed,and the real-time control of the inverted pendulum is realized.The performance indexes of CAN FD bus in distributed control are obtained by using the testing and diagnosis functions of CANoe.The results show that the distributed control achieves stable swing.The response time of the bus protocol is shortened by 33.88%and the bus load rate is reduced by 35%in the typical distributed control system.

关 键 词：CAN FD 分布式控制 直线倒立摆 

分 类 号：TP319[自动化与计算机技术—计算机软件与理论]