基于CarSim/Simulink的计算机控制系统综合实验设计  

Comprehensive Experiment Design for Computer-control System Based on CarSim/Simulink

作　　者：闻继伟[1] 陈珺[1] 栾小丽[1] 徐琛[1] WEN Jiwei;CHEN Jun;LUAN Xiaoli;XU Chen(School of Internet of Things Engineering,Jiangnan University,Wuxi 214122,Jiangsu,China)

机构地区：[1]江南大学物联网工程学院,江苏无锡214122

出　　处：《实验室研究与探索》2024年第3期73-77,共5页Research and Exploration In Laboratory

基　　金：国家自然科学基金项目(62073154);江南大学本科教育教学改革重点项目(JG2021121);江南大学本科教育教学改革研究项目(JG2021094,JG2021115)。

摘　　要：针对计算机控制系统课程中控制算法设计与仿真实现,设计了基于CarSim/Simulink的控制综合实验方案。以4轮独立驱动小车为对象,要求学生熟悉其基本工作原理,并在非线性动力学模型基础上,进行局部线性近似,设计反馈控制器,模拟小车控制。使用CarSim仿真软件可直观地模拟调整4轮独立驱动小车的质量、质心位置和转动惯量等,实现个性化选择,搭建车辆模型;与Simulink接口互通,在Simulink中完成控制算法。实验设计旨在使学生夯实计算机控制系统的理论基础,并逐步过渡到控制工程,理论联系实际,培养其解决复杂工程问题的能力。To address the challenges in control algorithm design and simulation implementation in the computer control systems course,we design a comprehensive experimental framework using CarSim and Simulink.This framework focuses on a four-wheel independently driven vehicle.Leveraging the non-linear dynamics model of the vehicle,we employ local linearization approximations to design a feedback controller and simulate the vehicle’s control performance.Specifically,using CarSim software allows for convenient and intuitive adjustments of vehicle weight,center of gravity position and rotational inertia,etc.,facilitating personalized selection and the construction of vehicle models.Subsequently,this model interfaces with Simulink to implement the control algorithm.The aim of the experiment is to help students consolidate the foundation of control theory,gradually go deep into the control engineering,be able to relate theory to practice,and have the ability to solve complex engineering problems.

关 键 词：CarSim/Simulink联合仿真 计算机控制系统 反馈控制 综合实验 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]