基于xPC的电液位置伺服系统快速控制原型设计

通常电液位置伺服系统控制器的开发，需通过辨识被控对象数学模型来确定控制器参数。控制器的实现一般采用嵌入式系统，但是在控制器开发阶段直接采用嵌入式系统，存在辨识过程的实现和控制器参数确定困难，开发周期长等问题。基于xPC半实物仿真技术，提出直接将MATLAB/Simulink快速构建的控制算法转化为xPC目标机可运行的代码，并在目标机上通过数据采集卡获得控制对象的状态变量，上传至xPC宿主机；结合MATLAB中的系统辨识工具箱，辨识得到电液位置伺服系统的数学模型，从而确定复合控制器参数，实现了电液位置伺服系统快速控制原型设计。

Rapid Control Prototype Design of Electro-hydraulic Position Control Servo System Based on xPC Target

The development of electro-hydraulic position control servo system controller usually needs to identify a match model of the controlled object in order to confirm the controllers parameters. The controller usually adopts an embedded system. Whereas if the exploitation stage of controller directly uses an embedded system, it exists with the following problems: the difficulties in realization of identification process and determination of controller parameters, and a long development period, etc. Therefore, a method that combines hardware-in-the-loop simulation based on xPC is put forward. The hardware-in-the-loop simulation can use MATLAB/Simulink to rapidly construct a control algorithm and generate executable codes in an xPC target computer. An xPC host computer obtains state variables of the controlled object which are collected by a data acquisition card in the xPC target computer. Through the system identification toolbox in MATLAB, we can obtain a mathematical model of electro-hydraulic position control servo system, thereby determining the parameters of compound controller and realizing rapid control prototype design.