基于MATLAB的柔性机械臂控制教学演示平台

Teaching Demonstration Platform of Flexible Manipulator Control Based on MATLAB

文章基于MATLAB软件设计柔性机械臂控制仿真可视化教学演示平台,该教学演示平台图形用户界面(Graphical User Interface,GUI)友好,具有模型参数设置、控制参数调节、状态监测及曲线显示等功能。学生可根据实验需要在线调整仿真系统各控制参数,通过点击人机交互界面上各按钮实现功能模块的仿真运行,其目的明确、内容详实、图形直观,可形象地演示柔性机械臂控制系统控制原理,增强感性认知;作为应用实例可作为课堂理论教学内容的补充,提高学生对系统和控制原理的认识和理解;适用于自动控制类本科生和高职学生,能提高学习兴趣,安全且节约教育成本。

In this paper,we design a flexible mechanical arm control simulation visualization teaching demonstration platform based on the MATLAB software.The teaching demonstration platform is with friendly Graphical User Interface(GUI)and has quite a lot of functions,such as model parameter setting,control parameter adjusting,condition monitoring and curve displaying..According to the requirement of simulation experiments,students can adjust control parameters online by clicking on each button on the man-machine interface,and it has definite purpose,informative content,intuitive graphic and can vividly demonstrates the control principle of flexible manipulator control system,enhance perceptual cognition.As an application example,it can be used as a supplement to the teaching content of classroom theory to improve students'understanding and comprehension of system and control principle.Also,this platform is applicable to automatic control of undergraduate and higher vocational students,which can improve their learning interest,be safe and save the cost of education.