基于虚拟仪器的舵机半实物仿真系统研究

Research on Hardware-in-the-Loop Simulation System of Control Actuator Based on Virtual Instrument

传统舵机控制算法的设计大多是通过数字仿真来实现的,数字仿真过程中舵机执行机构模型的不准确使得仿真结果与实际情况有较大的差距。提出一种基于虚拟仪器的舵机控制半实物仿真系统,该系统利用LabVIEW软件平台开发了舵机执行机构的控制算法仿真模块,并通过D/A设备将控制参数发送给舵机执行机构。结合高速A/D设备对舵机反馈信号进行采集,在软件中实现对舵机控制算法性能的实时分析。试验结果表明,该系统解决了数字仿真中舵机执行机构模型不准确的问题,为舵机开发过程中的控制算法设计仿真提供了更为灵活、高效的方法。

Traditional research of control algorithm of actuator is based on digital simulation,the simulation result is inaccuracy because of the defect of actuator model.A hardware-in-the-loop（HIL） simulation system of control actuator based on virtual instrument is proposed.This system has realized the control algorithm based on LabVIEW,and sent the parameters to the actuator by D/A.Through the A/D and software,the system can make real-time analysis with control algorithm.The results of simulation show that the HIL simulation system can solve the problems of actuator model,and provide a more efficient way to the design of actuator control algorithm.