摘要
讨论了在Matlab环境下实时控制的两种实现方法,提出了模糊变量组合的模糊控制方法。采用基于M文件进行实时控制,具有简单易学、控制方便等特点,但运行速度稍慢;使用Simulink和Real TimeWorkshop进行实时控制,具有控制系统参数修改方便,运行速度快,在完成仿真和调试后可生成C代码并移植到硬件直接使用,使控制系统得以快速成形。在Matlab环境下采用通用的PCI数据采集卡和自行设计的光电编码信号采集卡,对实际的倒立摆系统和旋转伺服系统进行了有效地实时模糊控制。
Two approaches to the real-time control based on Matlab were discussed, and a novel expert fuzzy control scheme and the Matalb based real-time control approach was proposed, by directly employing the M-files and by using Simulink and Real-Time Workshop (RTW). M-files are easy to program but with slow operation speed; Simulink and RTW is easy to modify control parameters with high operation speed, importantly Simulink and RTW files can be translated directly into C code after trail operation, and thus implement the Rapid Control Prototyping. By programming in Matlab and using the general-purpose PCI data-acquisition card and the self-designed rotary-encoder data-acquisition card, the proposed approaches work effectively in the real-time fuzzy control of the inverted pendulum system and rotary servo system.
出处
《实验室研究与探索》
CAS
2005年第4期14-18,共5页
Research and Exploration In Laboratory
基金
浙江省教育厅科研项目资助(20010456)
