论文部分内容阅读
网络化控制系统是控制技术与网络化信息技术相结合的产物,已经在控制领域中得到了广泛的重视,但是实验研究的缺乏一直制约着网络化控制研究的发展。目前,网络化控制的研究大部分还只是停留在控制系统的稳定性研究、控制算法的研究等理论上的探讨。因此,该文提出一款基于嵌入式技术的高性能网络化控制器的硬件设计方法,并给出基于该网络化控制器的倒立摆网络化控制实验。在实验中,倒立摆的摆杆在垂直位置小范围内来回振动,并达到稳定状态,实验结果表明了该网络化控制器在处理控制运算算法和网络通讯方面有着优异的性能。该控制器已被成功应用于国内外多所高校实验室。
Networked control system is the product of the combination of control technology and networked information technology. It has gained extensive attention in the field of control. However, the lack of experimental research always restricts the development of networked control research. At present, most of the research on networked control still only stays in the control system stability research and control algorithm research. Therefore, this paper presents a hardware design method of high-performance networked controller based on embedded technology, and presents an experiment of inverted pendulum networked control based on the networked controller. In the experiment, the pendulum of the inverted pendulum vibrates back and forth in a small range of vertical position and reaches a steady state. The experimental results show that the networked controller has excellent performance in handling control arithmetic and network communication. The controller has been successfully applied to many university laboratories at home and abroad.