A hardware-in-the-loop real-time simulation system and a method for realizing rapid prototype control

Abstract

The invention provides a semi-physical real-time simulation system and a method for realizing rapid prototype control. The system includes host machine, main control machine, and external extended function modules and controlled objects. The host computer runs the Matlab / Simulink / RTW program, and loads the executable program into the main computer; the host computer runs the LabVIEW program, which is used to observe the status information of the main computer and modify the control parameters in real time. The main control unit includes a download unit, a communication unit, a human-computer interaction unit, a test sensing unit, a control and information processing unit, and a power drive unit, which are used to assist in realizing the communication between the main unit and other functional modules. The external expansion function module is used to expand the function of the test sensing unit and output configurable control signals. The present invention aims at the robot control system, effectively solves the combination problem of rapid prototyping and hardware-in-the-loop simulation, and integrates the power drive unit; improves the controllability, observability and adaptability to different control objects of the robot control system sex.

Description

technical field [0001] The invention relates to the technical field of data simulation, in particular to a semi-physical real-time simulation system applied to rapid prototype control of a robot control system. Background technique [0002] Hardware-in-loop simulation (HILS, Hardware-in-Loop Simulation) is also called semi-physical simulation. It describes a part of the actual system with a mathematical model, and transforms it into a simulation model to run on a computer. The other part of the system is Objects or physical models are introduced into the simulation loop. Usually, because some parts of the real system are difficult or impossible to establish accurate mathematical models, coupled with the influence of various nonlinear and random factors that are difficult to realize, it is very difficult to perform pure mathematical simulation. Faced with this situation, only hardware-in-the-loop simulation is used to replace the parts that are not easy to model with real ob...

AI Technical Summary

Problems solved by technology

[0015] 2. Writing code by hand is unreliable

[0017] 3. It is time-consuming and labor-intensive to modify the control scheme

The problem brought by this design idea is that in the rapid prototyping design, all the analog signal lines, encoder signal lines, and power signal lines on the mechanical arm need to be connected to the target machine 102 at a fixed position. Crosstalk is likely to occur between them, and there are many terminals, so the stability of the system is reduced, and it is not convenient for debugging personnel to install and maintain; at the same time, the power consumption of the target machine 102 is relatively large, which is not suitable for small mobile devices; in addition, it supports real-time simulation The cost of the data acquisition card is relatively high, so the traditional solution increases the cost of the system and reduces the application range of the rapid prototyping system

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