基于快速控制原型的倒立机器人设计与实现

Inverted robot design and realization with rapid control prototyping

介绍了快速控制原型的产生、发展和优势。搭建了倒立机器人快速控制原型硬件平台。针对硬件平台,总结了快速控制原型设计流程,设计了Matlab/Simulink模型,实现了自动代码生成,完成了倒立机器人的平衡控制。结果表明,倒立机器人能在-2°～2°范围内保持平衡,验证了快速控制原型的优势。在控制系统最初的设计阶段,将Matlab/Simulink模型在实物中进行验证,可缩短开发周期,节省经费,提高开发效率。

Rapid control prototyping is introduced in terms of its generation, development and advantage. A hardware platform for inverted robot＇s rapid control prototyping is established and its design flow is summarized. Then a Matlab/Simulink model is designed and automatic code generation is realized to control the inverted robot. Simulation results show that the inverted robot can keep balance in the range between-2 and 2 degrees, which demostrates the advantage of the rapid control prototyping. In the initial step of the design procedure the Matlab/Simulink model can be tested in real situation so as to reduce the design cycle, save cost and speed up development efficiency.