网络化开放式快速控制原型系统  

Networked open rapid control prototyping system

作　　者：黄光普 吴祥[1] 俞立[1] HUANG Guangpu;WU Xiang;YU Li(College of Information Engineering,Networked Control System Laboratory,Zhejiang University of Technology,Hangzhou 310023)

机构地区：[1]浙江工业大学信息工程学院网络化控制系统实验室,杭州310023

出　　处：《高技术通讯》2022年第12期1291-1301,共11页Chinese High Technology Letters

基　　金：国家自然科学基金-浙江两化融合联合基金(U1709213);浙江省重点研发计划(2020C01109)资助项目。

摘　　要：针对网络化控制系统的理论分析、算法研究和产品开发的辅助设计需求,提出一种网络化开放式快速控制原型(RCP)系统,该系统具有结构简单、成本低、部署方便、可扩展性强等诸多优点。首先,基于Raspberry Pi和STM 32开源硬件构建了双嵌入式的轻量级即连即用目标机。其次,基于Simulink仿真环境设计了系统参数在线实时修改功能,可大幅简化参数调节过程。再者,基于TCP/UDP/IP协议设计了网络化控制模式,使用个人计算机(PC)作为控制器构建了通用型开放式半实物仿真系统。最后,以磁悬浮球为控制对象搭建了网络化控制实验平台,通过实验案例验证了系统的有效性和优越性。所设计的RCP系统可有效助力网络化控制系统分析和设计过程,同时可用于各类科研和教育课程实验中,具有良好参考和应用价值。Aiming at the auxiliary design requirements including theoretical analysis,algorithm research,and product development for networked control systems,a networked open rapid control prototyping(RCP)system is proposed,which has many advantages such as simple structure,low cost,convenient deployment,and strong expansibility.Firstly,a dual embedded lightweight,plug-and-play target is built based on Raspberry Pi and STM 32 open-source hardware.Secondly,the online real-time modification function of system parameters is designed based on the Simulink environment,which can greatly simplify the parameter adjustment process.Furthermore,a networked control mode is devised based on TCP/UDP/IP protocol,and a general open hardware-in-the-loop simulation system is constructed using a personal computer(PC)as the controller.Finally,a networked control experimental platform is built with a magnetic levitation ball,and the effectiveness and superiority of the system are verified by experimental cases.The RCP system can effectively assist the analysis and design process of the networked control systems and can be used in various scientific research and educational course experiments,which has good reference and application value.

关 键 词：快速控制原型(RCP) 网络化控制 半实物仿真 Raspberry Pi 磁悬浮球 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]