Rapid control prototyping is introduced in terms of its generation, development and advantage. A hardware platform for inverted robot's rapid control prototyping is established and its design flow is summarized. Then a Matlab/Simulink model is designed and automatic code generation is realized to control the inverted robot. Simulation results show that the inverted robot can keep balance in the range between -2 and 2 degrees, which demostrates the advantage of the rapid control prototyping. In the initial step of the design procedure the Matlab/Simulink model can be tested in real situation so as to reduce the design cycle, save cost and speed up development efficiency.
LÜ Qiang, ZHANG Yang, WANG Guosheng, GUO Feng
. Inverted robot design and realization with rapid control prototyping[J]. Science & Technology Review, 2016
, 34(18)
: 265
-269
.
DOI: 10.3981/j.issn.1000-7857.2016.18.036
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