提出一种基于模型(MBD)的倒立摆控制器设计方法。相对于传统软件设计流程,MBD具备代码生成和早期算法验证功能。首先运用Lagrange方程建立倒立摆仿真模型;然后设计基于LMI倒立摆滑模变结构控制器算法模型,在仿真环境下与被控模型结合形成控制综合系统并进行仿真实验;接着自动生成滑模变结构高效嵌入式代码,整合成倒立摆控制软件程序后集成部署至嵌入式电路板中,形成实物倒立摆控制系统。通过实物、仿真系统对比结果验证了MBD方法的可行性。
Abstract
An inverted pendulum controller design method based on model-based design (MBD) is proposed.Compared with the traditional software design process, MBD has the function of code generation and early algorithm verification.Firstly, the simulation model of inverted pendulum was established by Lagrange equation.Then, an algorithm model of LMI based inverted pendulum sliding mode variable structure controller is designed, which is combined with the controlled model to form a control integrated system in the simulation environment and the simulation experiment is carried out.Then the sliding mode variable structure efficient embedded code is automatically generated and integrated into the inverted pendulum control software program, which is integrated and deployed into the embedded circuit board to form the physical inverted pendulum control system.The feasibility of MBD method is verified by comparing the results of real object and simulation system.
关键词
Simulink仿真 /
滑模变结构 /
LMI /
代码自动生成
Key words
Simulink simulation /
sliding model variable structure /
LMI /
code automatic generation
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