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以慧鱼组合模型构建的二维自由度工作台为控制对象,采用dSPACE半实物仿真平台和Simulink软件,建立半实物控制系统。Simulink模型搭建的控制器,通过dSPACE的RTI(Real Time Interface)模块库下载到dSPACE处理器中,控制实物二维自由度工作台。试验结果验证了该半实物控制系统能准确的完成控制要求,达到了预期的半实物控制目的。
The two-dimensional DOF workbench constructed with the Fischer-fish model was used as the control object. The dSPACE hardware-in-the-loop simulation platform and Simulink software were used to establish the semi-physical control system. The controller built by Simulink model is downloaded to the dSPACE processor through dSPACE’s RTI (Real Time Interface) module library to control the real two-dimensional DOF workbench. The test results verify that the semi-physical control system can accurately fulfill the control requirements and achieve the expected semi-physical control purposes.