Research And Development Of Specific Controller For Remote Control Theory Laboratory

Currently, most of the researchers conduct research on control method of complex objects by simulation or theory analyzing, lacking the validation of physical experiment system. Great significance is attached to the supplement of a convenient physical experiment system for the purpose of research on control method of complex objects. As the most important component of control system, the controller determines the performance of the entire experimental system. Therefore, the general structure of remote contol theory laboratory first is proposed and this dissertation research and design a specific controller for remote control laboratory supported by the scientific and technological innovational platform of process industry integrated automation founded by Northeastern University "985 projects". Experimental system can be built on the developed controller. It provides a physical experiment system for the researchers which are convenient in control method research of complex objects. They not only complete the simulation of control arithmetic of complex objects, but also obtain real-time experimental verification on physical system timely. Thus, various kinds of complex control method can be examined on the physical system. Additionally, it also accelerates the application on actual industrial process. In order to build remote experimental system, the controller is designed to support network control.The main contributions of the dissertation are summarized as follows:1. Based on the development of control technology, analyzing and summarizing the advanced technology of controller for home and abroad, the thought of general structure of specific controller for remote control theory laboratory is introduced. The design of the general structure of the specific controller for remote control theory laboratory. It also designs the structure and function of hardware and software system. Hardware system applied the rapid prototyping and modular thinking, which can easy to expand the hardware function and experimental connection. Software system can avoid large amount of code writing by GUI programming.2. The design and development of hardware system and software system for the specific controller for remote control theory laboratory. Hardware system design includes target controller, functional interface and target driver etc. Target is the core, providing abundant interfaces, as AD, PWM and GPIO etc. The interfaces and drivers have general purpose interfaces and control the real objections according to the signals. Software system design include man-machine interface, a rich library of modules and cases experimental operation. The library of modules includes interface driver library for hardware system, objection model library and arithmetic library.3. The experimental validation for the system of specific controller. Validate the software and hardware systems of this platform based on Quanser's teaching object. It includes the real time control experiment of flexible joint based on Simulink, the virtual simulation experiment of rotary pendulum based on MATLAB and the real time simulation experiment of servo plant based on M-file. The experiment results demonstrate that the system is convinent to verify complex control methods.