基于硬件在环仿真的系统模型辨识平台设计

Design of the Model Identification Experiment Platform Based on Hardware-in-loop Simulation

控制系统设计的前提是建立准确的被控系统的数学模型,为了验证理论建模的准确性,设计了基于硬件在环仿真的系统模型辨识平台。以力伺服控制系统为例:建立柔索驱动系统数学模型;搭建基于d SPACE硬件在环仿真的系统模型辨识平台;最后,利用MATLAB-ident工具箱在离线状态下对系统数学模型进行模型辨识。模型辨识实验结果表明:实际系统和理论模型的频率特性基本吻合,验证了该模型辨识方法的有效性。该平台容易搭建、调试简单、工作稳定,对力伺服系统建模及控制系统设计具有参考价值,同时可推广至其他类型伺服系统的模型辨识。

The design of the control system is predicated on the establishment of an accurate system model. To verify the accuracy of the theoretical model,a hardware-in-loop simulation platform is designed in this paper. Taking the design of force servo system for example,a dynamic model of the cable driven system is first provided. Then a hardware-in-loop simulation platform is established based of d SPACE. Furthermore,the MATLAB-ident toolbox is used to recognize offline the system models. Experimental results demonstrate that the frequency characteristics of the actual system are basically in line with the frequency characteristics of the theoretical model. The platform is simple,debugging is easy and working stable. This experimental method has reference value for design of force servo system,and it can also be popularized to other servo systems.