一阶直线倒立摆控制器MBD设计方法研究  

Study on MBD Design Method of First-order Linear Inverted Pendulum Controller

作　　者：常广晖[1] 张亚超 苏攀[1] CHANG Guang-hui;ZHANG Ya-chao;SU Pan(College of Power Engineering,Naval University of Engineering,Wuhan Hubei 430033,China)

机构地区：[1]海军工程大学动力工程学院,湖北武汉430033

出　　处：《计算机仿真》2022年第6期293-297,330,共6页Computer Simulation

基　　金：国家自然科学基金项目(51579242)。

摘　　要：倒立摆是控制领域检验各种控制策略有效性的典型控制对象。通过可视化仿真设计控制算法并部署于嵌入式电路板从而实现倒立摆控制是很值得研究的问题。提出了一种基于模型设计(MBD)方法用于一阶直线倒立摆控制器的快速开发。首先建立与真实倒立摆机械结构物理特性一致的多体动力学simscape可视化模型;其次在Simulink统一仿真环境下设计开发基于卡尔曼滤波的LQR控制算法,联合两者进行了可视化动态控制仿真;最后利用Embedded Coder自动生成了高效率嵌入式控制C代码,通过软件多线程代码集成并部署到嵌入式控制电路板中实现了倒立摆控制器的快速开发。最终通过实际控制实验,验证了利用上述方法进行控制器设计开发的有效性和便捷性。Inverted pendulum is a typical control object to test the effectiveness of various control strategies in the control field. It is worth studying to design the control algorithm through visual simulation and deploy it on the embedded circuit board to realize the inverted pendulum control. In this paper, a model based design(MBD) method is proposed for the rapid development of a first-order linear inverted pendulum controller. Firstly, Firstly, the simscape visualization model of multi-body dynamics was established, which is consistent with the physical characteristics of the mechanical structure of the real inverted pendulum;Secondly, the LQR control algorithm based on Kalman filter was designed and developed in the unified simulation environment of Simulink, and the visual dynamic control simulation experiment was carried out by combining the two. Finally, Embedded Coder was used to automatically generate high efficiency Embedded control C code, and the rapid development of inverted pendulum controller was realized through software multi-threaded code integration and deployment into Embedded control circuit board. Finally, the effectiveness and convenience of controller design and development using this method were verified through actual control experiments.

关 键 词：基于模型设计 可视化仿真 倒立摆 卡尔曼滤波 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]