Gamification comprehensive experiment method and system for control class course experiment teaching and experiment platform

Abstract

The invention discloses a gamification comprehensive experiment method, system and platform for control class course experiment teaching, and relates to the field of education. The problems that existing experiment teaching experiment content forms are single, experiment project expansibility and interdisciplinary fusion are insufficient and the like are solved, and the method comprises the steps that hardware equipment and game scene pictures are initialized, a camera collects the game scene pictures in real time, and a target position is recognized through an image processing algorithm; the mapping relation between the target position and the rotation angle of the two-dimensional rotary table is calculated, and the two-dimensional rotary table is driven to move according to the control quantity generated by the controller; a three-stage experiment mode of parameter adjustment, algorithm programming and multi-objective optimization is set, a student number bound dynamic model disturbance mechanism is combined, an automatic scoring algorithm based on tracking error control system performance indexes is combined with a code similarity analysis and parameter randomization method, and a control class course experiment teaching-oriented gamification comprehensive experiment is completed. The system is also suitable for the experiment teaching field of automation, control science, engineering and other majors.

Description

Technical Field

[0001] The present invention relates to the field of educational technology, and particularly relates to a gamified comprehensive experimental method, system and experimental platform for experimental teaching of control courses. Background Art

[0002] Existing control system experiments usually adopt traditional laboratory equipment and methods, such as using a PID controller or other basic control algorithms for tuning control experiments. Although these methods can teach basic control theories, they often lack attractiveness, resulting in insufficient motivation and understanding among students. Some educational institutions may use software simulations to supplement experiments, but these simulations lack hands-on experience and real-time interaction and cannot completely replace physical experiments.

[0003] In addition, although there are gamified educational systems in other fields such as language learning or general science, there is a lack of a system specifically designed for control engineering education that combines hardware and software in a game environment. Therefore, the defect of the current technical solutions is that they fail to provide an attractive, interactive and comprehensive experimental platform to effectively teach control theories and methods through practical, game-based scenarios.

[0004] However, the following defects exist in the prior art:

[0005] 1. The form of presenting experimental content is single

[0006] Existing control system experiments mostly use basic controlled objects, such as motors, servos, and conventional control algorithms, such as PID. The experimental scenarios are disconnected from actual engineering applications, such as laser weapon tracking and radar target locking, resulting in insufficient interest among students in migrating theory to practice.

[0007] 2. The scalability of experimental projects and the integration of interdisciplinary subjects are insufficient

[0008] The current experimental systems are mostly designed for single courses, and the experimental content is limited to basic tasks such as parameter debugging. There is a lack of experimental modules for interdisciplinary intersections, such as control algorithm programming and image processing optimization, and it is difficult to support the needs of advanced courses.

[0009] 3. The homogenization of teaching models and the lack of personalization

[0010] The existing systems do not set up an experimental difficulty grading mechanism and cannot provide adapted tasks according to the differences in students' abilities, violating the educational concept of "teaching students in accordance with their aptitudes" and suppressing the innovative potential of students.

[0011] 4. The subjectivity of the scoring mechanism and loopholes in anti-cheating

[0012] Relying on manual scoring is prone to introducing subjective biases and is inefficient; at the same time, there is a lack of anti-plagiarism mechanisms such as parameter randomization and code duplication checking, and it is difficult to guarantee the objectivity and fairness of experimental results.

[0013] 5. Weak interactive feedback and competitive incentives

[0014] Traditional experiments are mostly one-way operation processes, lacking interactive elements such as real-time performance feedback and dynamic ranking, and are unable to inspire students to take the initiative to continuously optimize control strategies. Summary of the invention

[0015] The present invention aims to solve the problems of the existing experimental teaching, such as the single presentation form of experimental content, insufficient expansibility and interdisciplinary integration of experimental projects, homogeneity and lack of personalization of teaching models, subjective scoring mechanism and anti-cheating loopholes, weak interactive feedback and competitive incentives, low interest, weak expansibility and poor fairness.

[0016] To solve the above technical problems, the present invention is achieved through the following technical solutions:

[0017] Solution 1: The present invention proposes a gamified comprehensive experimental method for experimental teaching of control courses, the method comprising the following steps:

[0018] S1, initializing the hardware device and the game scene screen, and converting the control performance index into the game score; the hardware device includes a two-dimensional turntable, a camera, a laser pen, an encoder, and a driver;

[0019] S2, the camera collects the game scene in real time, identifies the target position through the image processing algorithm, and calculates the mapping relationship between the target position and the rotation angle of the two-dimensional turntable;

[0020] S3, based on the mapping relationship between the target position and the rotation angle of the two-dimensional turntable calculated in S2, and the control amount e(t) generated by the controller, driving the two-dimensional turntable to move;

[0021] S4, based on the control quantity e(t) generated in S3, set up three-level experimental modes of parameter adjustment, algorithm programming, and multi-objective optimization, combined with the dynamic model perturbation mechanism bound to the student number, to achieve personalized experimental task adaptation;

[0022] S5. Based on the automatic scoring algorithm of the tracking error control system performance indicators, combined with the code similarity analysis and parameter randomization method, a gamified comprehensive experiment for experimental teaching of control courses is completed.

[0023] Furthermore, a preferred implementation is provided, wherein the control performance indicators in S1 include response speed and steady-state accuracy.

[0024] Furthermore, a preferred embodiment is provided, in which the method for calculating the mapping relationship between the target position and the rotation angle of the two-dimensional turntable in S2 is: the target position is obtained by converting the motor rotation angle fed back by the encoder,

[0025]

[0026] Among them, Δx and Δy are pixel offsets, and f is the camera focal length.

[0027] Furthermore, a preferred implementation is provided. The method of generating the control quantity e(t) based on the controller in S3 to drive the two-dimensional turntable to move is as follows:

[0028]

[0029] Where K p , K i , K d are the proportional, integral, and differential coefficients to be adjusted, respectively.

[0030] Furthermore, a preferred implementation is provided. The dynamic model perturbation mechanism in S4 is scored according to the number of targets hit within a given time or the single-target destruction time. The method is as follows:

[0031]

[0032] Among them,

[0033]

[0034] r(t) is the damage efficiency, N is the total number of times entering the damage area at least once, the error does not exceed 2°, and k is the current number of times entering the damage area.

[0035] Furthermore, a preferred implementation is provided. The result of the code similarity analysis in step 5 is that the cosine similarity threshold does not exceed 0.8.

[0036] Furthermore, a preferred implementation is provided. In S1, a high-precision angle signal is transmitted between the encoder and the driver through an Endat differential data line.

[0037] Furthermore, a preferred implementation is provided. The resolution of the high-precision angle signal does not exceed 0.01°.

[0038] Solution 2: A gamified comprehensive experimental system for control-related course experimental teaching. The system includes:

[0039] A system initialization and scene generation module, which is used to initialize the hardware devices and the game scene screen, and convert the control performance indicators into game scores; the hardware devices include a two-dimensional turntable, a camera, a laser pointer, and an encoder;

[0040] The target recognition and position feedback module is used to collect the game scene images in real time by the camera, identify the target position through the image processing algorithm, and calculate the mapping relationship between the target position and the rotation angle of the two-axis turntable.

[0041] The closed-loop control algorithm execution module is used to drive the two-axis turntable to move based on the mapping relationship between the target position and the rotation angle of the two-axis turntable calculated in the target recognition and position feedback module, and generate the control quantity e(t) according to the controller.

[0042] The gamification scoring and feedback module is used to set up three-level experimental modes of parameter adjustment, algorithm programming, and multi-objective optimization based on the control quantity e(t) generated in the closed-loop control algorithm execution module, and combine the dynamic model perturbation mechanism bound with the student ID number to achieve personalized experimental task adaptation.

[0043] The experimental module is used to complete the gamification comprehensive experiment for the experimental teaching of control courses based on the automatic scoring algorithm of the tracking error control system performance index, combined with the code similarity analysis and parameter randomization method.

[0044] Solution 3: A gamification comprehensive experimental platform for the experimental teaching of control courses. The gamification comprehensive experimental platform is implemented based on the method described in Solution 1. The gamification comprehensive experimental platform includes a display device, a tracking device, and a host computer.

[0045] The display device is used to display the game scene and the moving target.

[0046] The tracking device includes a camera, a laser, a two-axis turntable, a driver, a DC motor, and an encoder, and is used to track and aim at the target.

[0047] The host computer is used to process data, realize real-time interaction with the tracking device, and complete closed-loop control.

[0048] The beneficial effects of the present invention are as follows:

[0049] The gamification comprehensive experimental method, system, and experimental platform for the experimental teaching of control courses described in the present invention construct an immersive experimental teaching system covering the entire control theory chain through four-dimensional innovations of "scene gamification, content modularization, scoring automation, and interaction real-timeization", solve problems such as low interest, weak scalability, and poor fairness of traditional experiments, and provide a highly adaptable technical solution for control engineering education.

[0050] The present invention improves students' practical ability and learning interest through real-time target tracking, closed-loop control algorithm design, multi-difficulty experimental tasks, and an automatic scoring mechanism.

[0051] The gamified comprehensive experimental method and system as well as the experimental platform for experimental teaching of control courses described in the present invention can enhance students' interest in and understanding of control theory, and improve students' experimental participation and teaching effect.

[0052] The gamified comprehensive experimental platform for experimental teaching of control courses described in the present invention provides an experimental platform with strong practicality and high interactivity, allowing students to receive all-round training.

[0053] The gamified comprehensive experimental method for experimental teaching of control courses described in the present invention supports learning of control algorithms from basic to advanced levels, covering control algorithm experiments such as PID, ADRC, and multi-loop design. It can be used as a supporting experimental device for most professional courses in the control discipline, and fully supports the practical teaching of the control discipline.

[0054] The present invention is also applicable to experimental teaching scenarios in automation, control science and engineering and other majors, as well as experimental teaching design and experimental device research and development in other disciplines. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 This is a structural diagram of the gamification comprehensive experimental system for experimental teaching of control courses described in Implementation Method 9.

[0056] Figure 2 This is a game interface rendering of the gamification-based comprehensive experimental platform for experimental teaching of control courses as described in Implementation Method 11. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solutions and advantages of the implementation methods of the present application clearer, the technical solutions in the implementation methods of the present application will be clearly and completely described below in conjunction with the drawings in the implementation methods of the present application. Obviously, the described implementation methods are only part of the implementation methods of the present application, not all of the implementation methods.

[0058] Implementation method 1: This implementation method proposes a gamified comprehensive experimental method for experimental teaching of control courses, which includes the following steps:

[0059] S1, initializing the hardware device and the game scene screen, and converting the control performance index into the game score; the hardware device includes a two-dimensional turntable, a camera, a laser pen, an encoder, and a driver;

[0060] S2, the camera collects the game scene in real time, identifies the target position through the image processing algorithm, and calculates the mapping relationship between the target position and the rotation angle of the two-dimensional turntable;

[0061] S3. Based on the mapping relationship between the target position and the rotation angle of the two-dimensional turntable calculated in S2, and generate a control quantity e(t) according to the controller to drive the two-dimensional turntable to move;

[0062] S4. Based on the control quantity e(t) generated in S3, set up three-level experimental modes of parameter adjustment, algorithm programming, and multi-objective optimization, and combine with the dynamic model perturbation mechanism bound by the student number to achieve personalized experimental task adaptation;

[0063] S5. Based on the automatic scoring algorithm for the performance indicators of the tracking error control system, combine code similarity analysis and parameter randomness to complete the gamified comprehensive experiment for the experimental teaching of control courses.

[0064] Embodiment 2. This embodiment further limits the gamified comprehensive experiment method for the experimental teaching of control courses described in Embodiment 1. The control performance indicators in S1 include response speed and steady-state accuracy.

[0065] Embodiment 3. This embodiment further limits the gamified comprehensive experiment method for the experimental teaching of control courses described in Embodiment 1. The method for calculating the mapping relationship between the target position and the rotation angle of the two-dimensional turntable in S2 is: the target position is obtained by converting the motor rotation angle feedback by the encoder,

[0066]

[0067] where Δx and Δy are pixel offsets, and f is the camera focal length.

[0068] Embodiment 4. This embodiment further limits the gamified comprehensive experiment method for the experimental teaching of control courses described in Embodiment 1. The method for generating a control quantity e(t) based on the controller to drive the two-dimensional turntable to move in S3 is:

[0069]

[0070] where K p , K i , K d are the proportional, integral, and differential coefficients to be adjusted respectively.

[0071] Embodiment 5. This embodiment further limits the gamified comprehensive experiment method for the experimental teaching of control courses described in Embodiment 1. The dynamic model perturbation mechanism in S4 scores according to the number of targets hit within a given time or the single target destruction time, and its method is:

[0072]

[0073] where,

[0074]

[0075] r(t) is the damage efficiency, N is the total number of times the damage area is entered at least once, with an error of no more than 2°, and k is the current number of times the damage area is entered.

[0076] Implementation method 6: This implementation method further limits the gamification comprehensive experimental method for experimental teaching of control courses described in implementation method 1. The result of the code similarity analysis in S5 is that the cosine similarity threshold does not exceed 0.8.

[0077] Implementation method seven: This implementation method further limits the gamification comprehensive experimental method for experimental teaching of control courses described in implementation method one. In S1, high-precision angle signals are transmitted between the encoder and the driver via the Endat differential data line.

[0078] Implementation method eight: This implementation method is a further limitation of the gamification-based comprehensive experimental method for experimental teaching of control courses described in implementation method seven, wherein the resolution of the high-precision angle signal does not exceed 0.01°.

[0079] Implementation method 9. This implementation method proposes a gamified comprehensive experimental system for experimental teaching of control courses, the system comprising:

[0080] The system initialization and scene generation module is used to initialize the hardware equipment and the game scene screen, and convert the control performance index into the game score; the hardware equipment includes a two-dimensional turntable, a camera, a laser pen, and an encoder;

[0081] The target recognition and position feedback module is used for real-time acquisition of game scene images by the camera, and the target position is identified through image processing algorithms; and the mapping relationship between the target position and the rotation angle of the two-dimensional turntable is calculated;

[0082] A closed-loop control algorithm execution module is used to calculate the mapping relationship between the target position and the rotation angle of the two-dimensional turntable based on the target recognition and position feedback module, and to generate a control amount e(t) according to the controller to drive the two-dimensional turntable to move;

[0083] The gamification scoring and feedback module is used to set up three-level experimental modes of parameter adjustment, algorithm programming, and multi-objective optimization based on the control quantity e(t) generated in the closed-loop control algorithm execution module, combined with the dynamic model perturbation mechanism bound to the student number, to achieve personalized experimental task adaptation;

[0084] The experimental module is used to complete the gamified comprehensive experiment for experimental teaching of control courses based on the automatic scoring algorithm of the performance indicators of the tracking error control system, combined with the code similarity analysis and parameter randomization method.

[0085] Embodiment Ten. This embodiment proposes a gamified comprehensive experimental platform for the experimental teaching of control courses. The gamified comprehensive experimental platform is implemented based on the method described in Embodiment One. The gamified comprehensive experimental platform includes a display device, a tracking device, and a host computer;

[0086] The display device is used to display the game scene and the moving target;

[0087] The tracking device includes a camera, a laser, a two-axis turntable, a driver, a DC motor, and an encoder, and is used to track and aim at the target;

[0088] The host computer is used to process data, achieve real-time interaction with the tracking device, and complete closed-loop control.

[0089] Embodiment Eleven. This embodiment proposes an example, and the example is used to explain Embodiments One to Ten above. The specific example is as follows:

[0090] Refer to Figures 1 to 2 To illustrate this embodiment, this embodiment specifically includes the following steps:

[0091] S1. System initialization and scene generation

[0092] Initialize the hardware devices, and the hardware devices include a two-dimensional turntable, a camera, a laser pointer, and an encoder;

[0093] Calibrate the pose relationship between the turntable and the screen;

[0094] The host computer generates a dynamic game scene and projects it onto the display. The target moves according to a preset rule, that is, the speed range: 0.1 - 1 m / s, and the movement trajectory can be set to sine, triangular wave, random, or custom mode.

[0095] S2. Target recognition and position feedback

[0096] The camera continuously captures the game scene images and identifies the target position through image processing algorithms; this part can also calculate the mapping relationship between the target position and the rotation angle of the two-dimensional turntable based on the calibration result of the pose relationship between the two-dimensional turntable and the game screen.

[0097] The position of the laser point is obtained by converting the motor rotation angle fed back by the encoder, and the calculation formula is:

[0098]

[0099] where Δx and Δy are pixel offsets, and f is the camera focal length.

[0100] S3. Execution of closed-loop control algorithm

[0101] As an angular position servo system, each axis of the two-dimensional turntable can be modeled as a type-I order system, and its open-loop transfer function is as follows:

[0102]

[0103] where K, τ e , τ m are the system gain, electrical time constant, and electromechanical time constant, respectively.

[0104] The host computer software generates the control quantity e(t) by calling the controller designed by the students (such as PID, ADRC, etc.) according to the position deviation (e x , e y ) between the target and the laser spot, and drives the two-dimensional turntable to move;

[0105] Control law calculation formula: Taking the PID control law formula as an example:

[0106]

[0107] where K p , K i , K d are the proportional, integral, and differential coefficients to be adjusted, respectively.

[0108] S4. Gamification scoring and feedback

[0109] The system scores according to the number of targets hit within a given time or the time to destroy a single target. The time to destroy a single target is related to the size of the dynamic tracking error. The specific time calculation formula is as follows:

[0110]

[0111] where

[0112]

[0113] is the damage efficiency. When the biaxial combined error e(t) is 0, the destruction time is 2s. When the error exceeds 2 degrees, the destruction efficiency is 0. When the error is at an intermediate value, it is calculated according to a linear law.

[0114] For a single experiment, the step response performance scoring formula can also be used:

[0115]

[0116] where α, β, γ are the weight coefficients, and the default values are 0.5, 0.3, and 0.2.

[0117] This implementation mode supports the networked battle mode, displays the rankings of current students in real time, and can also view the rankings of previous students.

[0118] S5. Anti-cheating and data storage

[0119] Generate unique controlled object model parameters through student ID binding, such as ±10% random disturbance of moment of inertia, to avoid parameter plagiarism;

[0120] This implementation adopts dynamic test case injection and code similarity analysis, that is, the cosine similarity threshold does not exceed 0.8.

[0121] The working principle of the gamified comprehensive experimental system for experimental teaching of control courses described in this embodiment is as follows: the camera captures the target position, the host computer calculates the control signal according to the target position and the current laser position, and drives the turntable to adjust the laser pointing to aim at the target. The higher the tracking accuracy, the shorter the time to destroy the target. The more targets destroyed in a given time, the higher the score, thus linking the design quality of the control system with the game results. The whole process is a real-time closed-loop control system. Students can improve the dynamic tracking accuracy by designing and adjusting the controller to optimize the game performance.

[0122] This embodiment also includes the following steps:

[0123] a) Immersive Gamification Scene Construction

[0124] Through engineered game scenarios such as dynamic laser tracking and multi-target strikes, control performance indicators (such as response speed and steady-state accuracy) are converted into game scores, significantly improving the fun of the experiment and student participation.

[0125] b) Modular experimental content expansion framework

[0126] It supports 10+ algorithm experiments such as PID, ADRC, and multi-loop control, and can be flexibly expanded. At the same time, it integrates interdisciplinary content such as program design, image processing, and intelligent decision-making to meet the needs of multi-course experiments and enhance students' comprehensive practical ability.

[0127] c) Multi-dimensional difficulty grading and adaptive matching

[0128] Set up three levels of experimental modes: parameter adjustment (elementary), algorithm programming (intermediate), and multi-objective optimization (advanced), and combine the dynamic model perturbation mechanism bound to student numbers to achieve personalized experimental task adaptation.

[0129] d) Full-process automated scoring and anti-cheating design

[0130] An automatic scoring algorithm based on control system performance indicators such as tracking error, combined with code similarity analysis (threshold no more than 0.8) and parameter randomization technology, ensures the objectivity of scoring and reduces the cheating rate by more than 90%.

[0131] e) Real-time interaction and competitive incentive mechanism

[0132] Integrated online multiplayer battle and dynamic leaderboard functions. By providing real-time data feedback and competitive rankings, it stimulates students' motivation to optimize, resulting in a 60% increase in experimental engagement.

[0133] The gamified comprehensive experimental platform for control course experimental teaching described in this implementation method is based on hardware architecture and communication, and specifically includes:

[0134] 1. Core hardware includes:

[0135] Master control terminal: A high-performance computer equipped with a dedicated EtherCAT network card;

[0136] Display unit: Dual liquid crystal displays, respectively used for experimental operation and game scene visualization;

[0137] Actuator: A two-dimensional turntable body, including bearings, servo motors, reducers, and optical encoders;

[0138] Electric control system: Integrated power supply module, dual motor drivers, emergency stop switches, status indicators, etc.

[0139] High-precision angle signals are transmitted between the encoder and the driver through Endat differential data lines, with a resolution of no more than 0.01°;

[0140] The driver and the host computer interact in real time through the EtherCAT industrial bus protocol to achieve millisecond-level closed-loop control, with a sampling frequency of 1kHz.

[0141] 2. Software interaction interface and function design are as follows:

[0142] The host computer uses the Qt framework to develop a multimodal operation interface. The main function modules include:

[0143] Experiment configuration module: Supports the selection and parameter adjustment of more than 10 control algorithms such as PID and ADRC, namely Kp, Ki, Kd,

[0144] Adjustable range: (0.1 - 10.0);

[0145] Real-time monitoring module: Dynamically displays system status, such as motor speed, tracking error, performance curves, such as step response, Bode plot, and dynamic and static indicators, such as overshoot and adjustment time;

[0146] Code programming interface: Opens program interfaces for languages such as C++, supporting the development of custom control algorithms;

[0147] Experiment report generation: Automatically exports experimental data, curve charts, and performance analysis reports.

[0148] 3. Gamified scenarios and safety protection mechanisms

[0149] Target motion mode: supports multiple types of motion such as uniform speed, sinusoidal speed, random trajectory, etc., with a speed range of (0.1-1m / s);

[0150] Interactive feedback: real-time display of the number of remaining targets, task duration, and attack effects, such as explosion animations and sound effects;

[0151] Score visualization: The score ranking list is updated dynamically, and supports local / online battle modes.

[0152] Safety protection mechanism: Abnormal detection: built-in fault diagnosis algorithms such as overspeed (threshold exceeds 50° / s), over-limit (angle exceeds travel), and instability (deviation exceeds 3°);

[0153] Automatic protection: When an abnormality is triggered, the system immediately enters the emergency stop mode and no longer responds to the torque command issued by the controller. The response time does not exceed 50ms.

[0154] 4. Anti-cheating and automatic scoring system

[0155] Parameter anti-plagiarism: each student is assigned a unique controlled object model, with a random perturbation of the moment of inertia of ±10%;

[0156] Code duplication check: Use the cosine similarity algorithm with a threshold of no more than 0.8 to compare the control program, and inject dynamic test cases to verify the code logic;

[0157] Smart Scoring: Generates a comprehensive score based on the number of targets destroyed within a given period of time and the average destruction time.

[0158] 5. Experimental content and difficulty level

[0159] Basic layer: PID control, lead-lag correction;

[0160] Advanced level: disturbance observer, two-degree-of-freedom control, multi-loop design;

[0161] High level: ADRC, model predictive control, such as MPC.

[0162] Three-level difficulty adaptation mechanism:

[0163] Primary: Graphical parameter adjustment, preset controller template;

[0164] Intermediate: Implement control algorithms through independent programming and support online debugging;

[0165] Advanced: Multi-objective optimization strategy design, such as priority planning, image recognition-assisted tracking.

[0166] Scalability design:

[0167] The software layer supports adding new controllers, such as fuzzy control and neural networks;

[0168] It can simulate disturbance conditions, with load mutation of ±20% and model parameter perturbation of ±15%, enhancing the experimental challenge.

[0169] 6. Verification of implementation effect

[0170] Verified by teaching practice: The student participation rate in experiments has increased by 75%, and the completion rate of high-order tasks has reached 68%; the scoring efficiency has increased by 82%, and the code plagiarism rate has dropped to less than 5%; the continuous operation stability of the system exceeds 300 hours.

[0171] In summary, through the four-dimensional innovation of "scenario gamification, content modularization, scoring automation, and interaction real-timeization", the present invention constructs an immersive experimental teaching system covering the entire chain of control theory, solves problems such as low interest, weak scalability, and poor fairness in traditional experiments, and provides a highly adaptable technical solution for control engineering education.

[0172] Those skilled in the art can understand that the above is only the preferred embodiment of the present invention. The features described in each embodiment and / or claim of the present disclosure can be combined or combined in various ways, even if such combinations or combinations are not explicitly described in the present disclosure. It is not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0173] Although the preferred embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications once they know the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present invention. Obviously, those skilled in the art can make various changes and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention also intends to include these modifications and variations.

Claims

1. A gamification integrated experimental method for the experimental teaching of control courses, characterized in that, The method includes the following steps: S1. Initialize the hardware devices and the game scene screen, and convert the control performance indicators into game scores; the hardware devices include a two-dimensional turntable, a camera, a laser pointer, an encoder, and a driver; S2. The camera collects the game scene screen in real time, identifies the target position through an image processing algorithm; and calculates the mapping relationship between the target position and the rotation angle of the two-dimensional turntable; S3. Based on the mapping relationship between the target position and the rotation angle of the two-dimensional turntable calculated in S2, and generating a control quantity e(t) according to the controller, drive the two-dimensional turntable to move; S4. Based on the control quantity e(t) generated in S3, set three-level experimental modes of parameter adjustment, algorithm programming, and multi-objective optimization, combined with the dynamic model perturbation mechanism bound to the student number, to achieve personalized experimental task adaptation; S5. Based on the automatic scoring algorithm for the performance indicators of the tracking error control system, combined with code similarity analysis and parameter randomization, complete the gamified comprehensive experiment for the experimental teaching of control courses.

2. The gamification integrated experiment method for experimental teaching of control courses according to claim 1, wherein The control performance indicators described in S1 include response speed and steady-state accuracy.

3. The gamification integrated experiment method for experimental teaching of control courses according to claim 1, characterized in that, The method for calculating the mapping relationship between the target position and the rotation angle of the two-dimensional turntable in S2 is: the target position is obtained by converting the motor rotation angle fed back by the encoder, where Δx and Δy are pixel offsets, and f is the camera focal length.

4. The gamification comprehensive experiment method for the experimental teaching of control courses according to claim 1, characterized in that The method for driving the two-dimensional turntable to move by generating a control quantity e(t) based on the controller in S3 is: where K p , K i , K d are the proportional, integral, and derivative coefficients to be adjusted, respectively.

5. The gamification comprehensive experiment method for experimental teaching of control courses according to claim 1, characterized in that The dynamic model perturbation mechanism described in S4 scores according to the number of targets hit within a given time or the single-target destruction time, and the method is: where, r(t) is the damage efficiency, N is the total number of times entering the damage area at least once, the error does not exceed 2°, and k is the current number of times entering the damage area.

6. The gamification comprehensive experiment method for experimental teaching of control courses according to claim 1, characterized in that, The result of the code similarity analysis in S5 is that the cosine similarity threshold does not exceed 0.

8.

7. The gamified comprehensive experimental method for experimental teaching of control courses according to claim 1, characterized in that In S1, a high-precision angle signal is transmitted between the encoder and the driver through an Endat differential data line.

8. The gamification integrated experimental method for control-oriented course experimental teaching according to claim 7, characterized in that The resolution of the high-precision angle signal does not exceed 0.01°.

9. The gamification integrated experimental system for the experimental teaching of control courses is characterized in that, The system includes: A system initialization and scene generation module, used to initialize the hardware devices and the game scene screen, and convert the control performance indicators into game scores; the hardware devices include a two-dimensional turntable, a camera, a laser pointer, and an encoder; A target recognition and position feedback module, used to collect the game scene screen in real time by the camera, identify the target position through an image processing algorithm; and calculate the mapping relationship between the target position and the rotation angle of the two-dimensional turntable; A closed-loop control algorithm execution module, used to drive the two-dimensional turntable to move based on the mapping relationship between the target position and the rotation angle of the two-dimensional turntable calculated in the target recognition and position feedback module, and generating a control quantity e(t) according to the controller; A gamified scoring and feedback module, used to set three-level experimental modes of parameter adjustment, algorithm programming, and multi-objective optimization based on the control quantity e(t) generated in the closed-loop control algorithm execution module, combined with the dynamic model perturbation mechanism bound to the student number, to achieve personalized experimental task adaptation; An experimental module, which is used for an automatic scoring algorithm based on the performance indicators of a tracking error control system, combines code similarity analysis and parameter randomization methods to complete a gamified comprehensive experiment for experimental teaching of control courses.

10. A gamification integrated experimental platform for experimental teaching of control courses, characterized in that, The gamified comprehensive experimental platform Implemented based on the method described in claim 1, the gamified comprehensive experimental platform includes a display device, a tracking device, and a host computer; The display device is used to display the game scene and the moving target; The tracking device includes a camera, a laser, a two-axis turntable, a driver, a DC motor, and an encoder, and is used to track and aim at the target; The host computer is used to process data, realize real-time interaction with the tracking device, and complete closed-loop control.

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