基于dSPACE的水箱液位控制系统

以水箱液位系统为研究对象,基于dSPACE-DS1103单板系统和Matlab/Simulink软件环境,建立了水箱液位系统的实时控制平台。在该平台上,使用dSPACE提供的Real-Time Interface（RTI）,通过扩展Matlab的实时工具箱Real-Time Workshop（RTW）,实现了从Simulink模型到dSPACE实时硬件代码的自动下载。水箱液位控制系统采用双闭环串级控制,其主调节器分别采用常规PID和单神经元自适应PID控制器进行实验研究。实验结果表明在该实时控制平台上,液位控制系统采用单神经元自适应PID控制器能够获得良好的动态性能,满足对液位的控制要求。     

基于dSPACE开关磁阻电机实时控制系统的研究

介绍了一种基于M atlab/S imu link建立开关磁阻电机驱动系统模型,采用dSPACE实时仿真系统环境自动生成控制器代码及被控对象模型实时代码,并对控制参数进行在线调参,改善了实际性能。实验结果表明:该系统缩短了开发周期、降低开发费用和技术风险,正确运行,性能良好。     

基于2级控制系统的量化状态观测器设计

研究2级控制系统中量化状态观测器的设计方法.对设计的控制系统的输入、输出信号进行量化,使得这些数据可以在网络环境中传输.研究对量化后的数据经过非完美的频道传输时造成的数据损失的处理方法.设计状态观测器,对控制系统的各个信息进行估计.设计控制器,能够根据状态观测器输出的估计值,控制2个致动器协调工作,成功地实现了2级控制.在实验平台dSPACE-DS1103上对所设计的2级控制系统进行验证,实验数据验证了本文提出的2级控制器设计方法的有效性和可行性.     

小卫星控制系统半物理仿真验证平台

介绍了小卫星控制系统地面半物理仿真验证平台的系统组成和方案设计,进行了实际控制系统仿真验证.平台以dSPACE实时仿真器为核心,在气浮台上辅以星载计算机、敏感器和执行机构进行仿真验证.该仿真平台能够在部分实物短缺情况下,采用仿真器对这些实物进行功能和电气接口完全模拟,提前进行星体控制系统半物理仿真验证,达到验证目的,降低了仿真成本.该仿真验证平台充分考虑了卫星控制系统实际运行环境,提高了仿真验证的可信度,是卫星半物理仿真有效便捷的工具.     

基于dSPACE及FESTO的控制系统平台设计

为提高传统控制装置的利用率,提出了一种基于dSPACE半实物仿真系统和MATLAB／Simulink技术的改造方案,并将这一方案运用到具体的FESTO传统控制系统,设计了一个改造实例,建立了系统控制平台。最后对此平台进行了基于单神经元自适应PID控制算法的实验仿真。实验结果表明该控制平台克服了FESTO传统控制系统的弊端,能方便验证控制算法的有效性。     

基于dSPACE的异步电动机控制平台研究

为开发既快捷又便利的控制算法工作平台,本文基于dSPACE控制系统开发平台,利用空间矢量脉冲宽度调制和功率变换技术,设计了异步电动机半实物调速系统,给出了硬件电路的整体设计方案,并分别设计了整流、三相逆变、故障输出和三相电流采集等电路,同时对矢量控制算法进行仿真和实验结果分析,并利用dSPACE半实物仿真平台实现了异步电动机闭环控制系统。仿真和实验结果表明,电机运行平稳,在运行中有负载扰动时,电机能迅速恢复设定转速,系统具有良好的动态和稳态性能。dSPACE半实物仿真平台能够快速验证硬件电路及控制算法的可行性,缩短了项目研发周期,节省了大量测试费用。     

Design of an Integrated SITL and HITL Simulation System for the Control of a Loitering Aerial Vehicle

An investigation into the aircraft flight simulation and control system is presented in this paper. The study was firstly focused on the establishment of an integrated hardware-in-the-loop(HITL) platform for aircraft flight simulation based on MATLAB/Simulink+dSPACE. The platform combines the abundant software and hardware resources of dSPACE simulation platform to simulate the flight attitude of an aircraft in six-DOF (degree of freedom) motion. Based on the platform,the study was then focused on the fligh...     

Hardware-in-the-Loop Research on the Electronic Control Unit for Diesel Engines

A hardware-in-the-loop simulating platform is developed to avoid designing defects caused by the complicated logical structure and multiple-functional buildup of the electronic control unit(ECU)in modern diesel engines, and to diminish potential damages on components or human exposure to dangers in R&D endeavor. This platform consists of a computer installed with software Matlab/Simulink/RTW and dSPACE/ControlDesk; a diesel engine ECU, and a dSPACE autobox which runs a real-time diesel engine model. A typical model of diesel engine with turbocharger and intercooler is presented. Based on this model our research is carried out with a real ECU to test its software control strategies. Results show that by using the diesel engine model downloaded inside, the hardware-in-the-loop platform can simulate diesel engine's working conditions and generate all kinds of sensor signals which ECU needs on a real-time basis. So the ECU control strategies can be validated and relevant parameters roughly calibrated.     

Hardware-in-the-Loop Research on the Electronic Control Unit for Diesel Engines

A hardware-in-the-loop simulating platform is developed to avoid designing de fects caused by the complicated logical structure and multiple-functional build up of the electronic control unit(ECU)in modern diesel engines, and to diminis h potential damages on components or human exposure to dangers in R&D endeavor. This platform consists of a computer installed with software Matlab/Simulink/RTW and dSPACE/ControlDesk; a diesel engine ECU, and a dSPACE autobox which runs a real-time diesel engine model. A ty...     

基于dSPACE的温度预测控制仿真试验研究

介绍了dSPACE实时仿真系统，并将其用于典型温度控制系统中，应用预测控制算法进行在线仿真试验。试验中主要讨论预测控制时域参数对预测控制效果的影响，采用凑试法比较不同参数下控制的效果来选择并确定时域参数。预测控制温度仿真试验结果表明使用预测控制能够达到较好的控制效果。     

基于二次型性能泛函的主动控制致动器优化配置

致动器过多不仅增加控制能量和成本,而且会增加控制难度及降低控制效率。已有的优化配置研究中,已对一定数目致动器的位置配置进行了探讨,而对致动器的最优数目研究较少。本文首先根据致动器对结构系统的状态影响矩阵中控制贡献大小,提出控制系统中致动器最优数目的优化方法;然后根据致动器的灵敏度,提出改进的最优致动器布置计算方法及算法流程,提高计算效率,并通过实例进行了验证,说明本文提出改进的致动器优化配置算法流程的适应性和有效性,更能适应于大型土木工程结构主动控制中的致动器优化配置。     

航空发动机鲁棒容错控制

针对目前航空发动机数字控制中急需解决的可靠性问题，根据完整性综合性设计思想，提出了一种对模型不确定性具有鲁棒性的容错控制系统的设计方法，并结合传感器的软、硬故障进行仿真，结果表明该控制系统在正常状态和故障状态都能实施良好的工作，具有控制、诊断和容错综合能力，且对模型不确定性具有良好的鲁棒性。     

Combined Control Allocation and Sliding Mode Control in the Dynamic Control of a Vehicle with Eight In-Wheel Motors

An eight wheel independently driving steering (8WIDBS) electric vehicle is studied in this paper. The vehicle is equipped with eight in-wheel motors and a steer-by-wire system. A hierarchically coordinated vehicle dynamic control (HCVDC) system, including a high-level vehicle motion controller, a control allocation, an inverse tire model and a lower-level slip/slip angle controller, is proposed for the over-actuated vehicle system. The high-level sliding mode vehicle motion controller is designed to produce desired total forces and yaw moment, distributed to longitudinal and lateral forces of each tire by an advanced control allocation method. And the slip controller is designed to use a sliding mode control method to follow the desired slip ratios by manipulating the corresponding in-wheel motor torques. Evaluation of the overall system is accomplished by sine maneuver simulation. Simulation results confirm that the proposed control system can coordinate among the redundant and constrained actuators to achieve the vehicle dynamic control task and improve the vehicle stability.     

Temperature Compensation Algorithm for Hydraulic System Pressure Control

In this paper the control mechanism of solenoid valve is analyzed, which shows the solenoid valve control is actually the control of coil current. The response characteristic of coil current is related to coil inductance and resistance. The coil resistance is influenced greatly by the ambient temperature and the self-heating of coil, which affects the control precision of coil current. First, considering the heat dissipation mode of coil, the coil temperature model is established from the perspective of heat conduction, and a temperature compensation algorithm for hydraulic system pressure control is put forward. Then the hardware-in-the-loop testbed is set up by using the dSPACE platform, carrying out wheel cylinder pressurization tests with inlet valve fully opened at -40℃ and 20℃, and testing the actual pressure of wheel cylinder with the target pressures at -40℃ and 6.000 kPa/s (pressurization rate). The results show that the pressure control temperature compensation algorithm proposed in this paper accurately corrects the influence of resistance temperature drift on the response accuracy of wheel cylinder pressure. After the correction, the pressure difference is less than 500 kPa, which can meet the control accuracy requirements of solenoid valve, enriching the linear control characteristic of solenoid valve.     

双馈感应风力发电系统的无源性控制方法研究

从能量平衡关系出发,利用非线性控制理论,提出了新型的双馈感应风力发电机自适应控制方法.该方法从能量角度分析了双馈感应风力发电系统,不必抵消“无功力”,就可实现负载转矩时变未知情形下磁链、转速的渐近跟踪控制,具有形式简单、无奇异点、鲁棒性好的特点.基于dSPACE的实验结果证明了该控制策略的有效性.     

Control strategy for hybrid tracked vehicles using fuzzy logic

To solve the problem of power distribution for hybrid tracked vehicles (HTV), a supervisory control strategy is proposed. Firstly, power system integration is analyzed and modeled. Then the control algorithm is given. Two fuzzy logics are used to realize the coordination control over each power unit. One controls power distribution based on the load power and battery state of charge (SOC). The other manage the power during regenerating braking. To validate the presented control strategy, a "driver and controller" in the loop simulation platform is built based on dSPACE system and real-time simulation is made. The simulation results show that the strategy presented can solve the power distribution problem of hybrid tracked vehicles correctly and effectively.     

基于新稳定条件的非线性系统的容错控制

研究了非线性系统中部分执行器可能失效的T—S模糊系统的容错控制问题。基于新的稳定性条件,采用线性矩阵不等式的方法,得出了系统在执行器故障时控制器存在的充分条件。在此条件下所设计的控制器,不仅使闭环系统渐近稳定而且具有适当的性能指标。仿真结果表明了该方法的有效性。     

高速电驱动履带车辆紧急制动控制策略

为了改善高速双侧电机驱动履带车辆在履带-地面接触条件较差时紧急制动的操控性能并减少制动距离,通过对履带车辆直线行驶动力学和其机械制动器、永磁同步电机及液力缓速器等制动执行机构进行动力学建模分析,提出基于滑模鲁棒控制、制动扭矩预分配规则和前馈补偿控制的机电液联合紧急制动防抱死控制策略. 以配备有DS2680 IO板卡和DS2671总线板卡的dSPACE SCALEXIO实时主机为核心搭建驾驶员输入在环的半实物在环,并针对高速双侧电机驱动履带车辆在雪地上以初速度为80 km/h进行紧急制动的工况,进行实时仿真和驾驶员在环试验. 仿真和试验结果表明：相对于常规履带车辆紧急制动控制方法,提出的策略能够更有效地将车辆滑移率保持在合理范围内,更好地利用地面附着力,并缩短了制动距离.     

主动悬架非脆弱H2/广义H2静态输出反馈最优控制

针对悬架系统参数和控制器同时存在摄动的问题,研究主动悬架非脆弱H2/广义H2静态输出反馈最优控制问题,并以双矩阵不等式组的形式给出非脆弱H2/广义H2控制器的存在条件和设计方法.将单一的悬架动行程作为反馈信号,以半车模型为例设计非脆弱主动悬架,并从频域和时域进行全面分析.结果表明,非脆弱主动悬架具有良好的鲁棒性和非脆弱...     

网络切换模糊时滞系统的容错控制

研究了一类网络切换模糊时滞系统的容错控制问题。当系统的执行器失效时,利用切换技术和Lyapunov函数方法,给出了各个子系统的状态反馈控制器及切换律的设计。通过预先给定的失效集,使得闭环系统对于发生在给定失效集的执行器失效,在所设计的控制器及切换律下是渐近稳定的。最后,通过仿真例子验证了设计方法的有效性。