基于半实物仿真平台的倒立摆系统PID控制研究

Research on PID control of inverted pendulum system based on hardware in loop simulation platform

为了研究倒立摆系统控制的动态性能,设计基于硬件平台、MATLAB和组态软件相结合的半实物仿真控制平台。在此平台上建立单级倒立摆数学模型,对系统进行PID控制研究,分别从单闭环PID控制方法和双闭环PID控制方法上研究单级倒立摆的运动情况,得到实时的运动动态特性曲线。结果显示,双闭环PID控制方法在参数合理的情况下,能够使系统达到稳定。验证倒立摆系统的可控性和倒立摆半实物仿真平台的可实现性。

In order to study the dynamic performances of inverted pendulum systems,this paper designs a hardware in loop simulation platform based on hardware,MATLAB and Kingview softwares.Firstly,this paper establishes the mathematical model of single inverted pendulum system on the platform,and studies the PID control of the system.Then,the motion of the single inverted pendulum system is studied by using the single closed loop PID and the double closed loop PID,and the real-time dynamic characteristic curve is obtained.The results show that the double closed loop PID can make system reach stable status with certain parameters.This paper verifies the controllability of inverted pendulum system and the realizability of inverted pendulum hardware in loop simulation platform.