CN101464930A - Inverted pendulum remote experiment system and method - Google Patents
Inverted pendulum remote experiment system and method Download PDFInfo
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- CN101464930A CN101464930A CNA2009100010958A CN200910001095A CN101464930A CN 101464930 A CN101464930 A CN 101464930A CN A2009100010958 A CNA2009100010958 A CN A2009100010958A CN 200910001095 A CN200910001095 A CN 200910001095A CN 101464930 A CN101464930 A CN 101464930A
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Abstract
The invention discloses an inverted pendulum remote experiment system, which comprises an inverted pendulum system, an experimental system server, a remote user computer, a network system and a video transmission system. The network system is used for connecting the remote user computer and the experimental system server. The experimental system server is connected with the inverted pendulum system, so as to perform simulation and control on software of the inverted pendulum system and return the simulation result and the video images of the inverted pendulum to the remote user computer. The remote user computer sends out a control command for controlling the inverted pendulum system through the experimental system server, and displays the software simulation result received from the experimental system server and video images of the real-time control state of the inverted pendulum. The video transmission system is connected with the experimental system server, so as to take video images of the inverted pendulum system during running on a real-time basis and transmit the taken video images to the remote user computer. The system breaks through the limitation of time and space of the traditional experiment, so as to make the best use of the limited resources in a laboratory.
Description
Technical field
The present invention relates to automatic control technology scientific research and teaching field, particularly a kind of inverted pendulum remote experiment system that can carry out the inverted pendulum experiment by remote experimental system.
Background technology
The teaching that many theory and technologies are used in the higher education needs experimental demonstration to strengthen the checking of iconicity effect and iconicity.The inverted pendulum control system is the nonlinear system of a typical unstable, high order, multivariate, strong coupling, is the gedanken experiment platform that carries out Teaching of Automatic Control Theory and carry out various control experiments.Can effectively reflect many typical problems in the control to the research of reversible pendulum system: as nonlinear problem, robustness problem, calm problem, servo-actuated problem and tracking problem etc.Yet, because the theoretical course arrangement of student is fuller, can select the time of doing experiment very limited, the inverted pendulum experimental facilities is relatively more expensive simultaneously, during upkeep cost, resource-constrained.This shows that the effect of inverted pendulum experiment, student's learning enthusiasm and existing device resource, optional the doing of experiment have formed tangible contradiction between the time.
The computer technology particularly experimental teaching that is applied as of network technology provides strong auxiliary.Along with the fast development of computer science, the CAE instructional technology also is rapidly developed to experimental teaching new wide approach is provided.The CAE teaching relates generally to software engineering, multimedia technology, virtual reality technology, network technology and remote control technology etc.But there are the weak points such as authentic image sense that interactivity is poor, lack physical reality in existing technology, tele-experimentation is on the basis of traditional experiment, adopting remote control and telemetering technique, computer networking technology and Computer Control Technology, during several function combinations are used like this, also there are many key issues, remain to be developed.
Summary of the invention
In order to solve the contradiction of increasingly sharpening that exists between the instrument resource and student's demand in the above-mentioned inverted pendulum remote experiment, improve the level of long-distance education, on the basis of former laboratory experiment, in conjunction with remote control technology, network technology, and multimedia technology and virtual reality technology, realize low-cost, inverted pendulum remote experiment system easily at the requirement of education experiment and characteristics.
According to an aspect of the present invention, provide a kind of inverted pendulum remote experiment system, comprise at least one reversible pendulum system, at least one experimental system server, at least one remote user computer, network system and Video transmission system, it is characterized in that:
Described network system is used to connect described remote user computer and described experimental system server; Described experimental system server is connected to described reversible pendulum system, for described remote user computer provides remote access service, with the software emulation that carries out inverted pendulum experiment with to the control of described reversible pendulum system, and the video image of software emulation result and the real-time state of a control of inverted pendulum returned remote user computer; Described remote user computer sends the control command that described reversible pendulum system is controlled by described experimental system server, and shows from the software emulation result of described experimental system server reception and the video image of the real-time state of a control of inverted pendulum; And described Video transmission system is connected with described experimental system server, take the video image of described reversible pendulum system operation in real time, and taken video image is transferred to remote user computer by described experimental system server through described network system.
Preferably, described Video transmission system comprises camera and video transmission software, described camera is taken the video image of described reversible pendulum system operation in real time, and video transmission software is transferred to remote user computer by described experimental system server through described network system with taken video image.
Preferably, described network system is the Internet or LAN (Local Area Network).
Preferably, described experimental system server further comprises and is used for obtaining experiment parameter and transmitting the data collecting card of control command to reversible pendulum system from reversible pendulum system.
Preferably, described experimental system server is based on Matlab software platform and Simulink simulation software, described subscriber computer is by after the described experimental system server of network system Telnet, utilize real time toolbox, Matlab real-time window object tool box and Matlab Simulink emulation tool, by described data acquisition card control reversible pendulum system.
According to a further aspect in the invention, provide a kind of reversible pendulum system tele-experimentation method, may further comprise the steps: used remote user computer to sign in to experimental system server by network system; Remote user computer system server by experiment is provided with the inverted pendulum controlled variable and carries out reversible pendulum system emulation; Experimental system server returns the reversible pendulum system simulation result to remote user computer; Experimental system server is controlled reversible pendulum system according to control command; And take the state of reversible pendulum system in real time and taken video image is transferred to remote user computer by video server.
Preferably, described control command sends to experimental system server by the long-distance user by remote computer.
Preferably, described experimental system server is based on Matlab software platform and Simulink simulation software, described subscriber computer is by after the described experimental system server of network system Telnet, utilize real time toolbox, Matlab real-time window object tool box and Matlab Simulink emulation tool, by data acquisition card control reversible pendulum system.
Preferably, the reversible pendulum system video image take by camera and by the video transmission software transmission to remote user computer.
The above technical scheme that the present invention adopts, need not help when making the tele-experimentation user carry out tele-experimentation by laboratory worker, can use personal computer just can control in the strange land to the inverted pendulum in the laboratory by network, finish whole inverted pendulum experiment (comprising the experiment of soft simulation and hardware), and can on personal computer, watch the picture of the actual motion state of the reversible pendulum system in the experimentation in real time at loop section.Thereby can realize the real experiment experience identical, allow the student have more deep and understanding intuitively reversible pendulum system with laboratory experiment.Reversible pendulum system of the present invention has been broken through the time and the space constraint of traditional experiment, and limited lab resources is utilized, and has improved the quality of experimental teaching.
Description of drawings
Fig. 1 shows the one-piece construction schematic block diagram according to inverted pendulum remote experiment system of the present invention.
Fig. 2 shows the schematic block diagram according to the inverted pendulum remote experiment system of first embodiment of the invention.
Fig. 3 shows the synoptic diagram according to the reversible pendulum system of first embodiment of the invention.
Fig. 4 shows a concrete example of inverted pendulum remote experiment system shown in Figure 2.
Fig. 5 shows in according to inverted pendulum remote experiment system shown in Figure 4, the inverted pendulum soft simulation result's who shows on remote user computer computer screen sectional drawing.
Fig. 6 shows in according to inverted pendulum remote experiment system shown in Figure 4, watches inverted pendulum to play the computer screen sectional drawing of the video image of pendulum process automatically on remote user computer.
Fig. 7 shows in according to inverted pendulum remote experiment system shown in Figure 4, is stabilized in the computer screen sectional drawing of the video image of plumbness under the control of watching inverted pendulum at controller on the remote user computer.
Fig. 8 shows the experimental technique process flow diagram that utilizes inverted pendulum remote experiment system of the present invention.
Embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, the first embodiment of the present invention is described in further detail below in conjunction with accompanying drawing.
Fig. 1 shows the one-piece construction synoptic diagram according to inverted pendulum remote experiment system of the present invention.With reference to Fig. 1, inverted pendulum remote experiment system 100 comprises at least one remote user computer 101, network system 102, at least one is connected with experimental system server 104 and at least one inverted pendulum experiment porch 105 of camera 103.As shown in Figure 1, remote user computer 101 signs in to experimental system server 104 by network system 102, and then inverted pendulum is carried out soft simulation and controls inverted pendulum experiment porch 105 in real time.The user of remote user computer 101 can also catch the true-time operation picture of inverted pendulum experiment porch 105 by camera 103, and whole experiment is carried out visible observation.Specifically describe the function and the detail operations of each ingredient in the inverted pendulum remote experiment system 100 below in conjunction with Fig. 2.
Fig. 2 shows the schematic block diagram according to the inverted pendulum remote experiment system 200 of first embodiment of the invention.With reference to figure 2, inverted pendulum remote experiment system 200 of the present invention comprises remote user computer 201, network system 202, experiment server 203, reversible pendulum system 204 and camera 205.Wherein, network system 202 is used to connect remote user computer 201 and experiment server 203 and communication between the two is provided.According to one embodiment of present invention, network system 202 can be any network type that the Internet, LAN (Local Area Network) etc. are suitable for carrying out data transmission.According to another embodiment of the present invention, remote user computer 201 can wired or wirelessly be connected to network system 202 with experiment server 203.Experiment server 203 comprises inverted pendulum emulation module and the real-time control module of reversible pendulum system (with being described in detail among Fig. 4 below).Experiment server 203 provides remote access service for remote user computer 201, and by inverted pendulum emulation module and the real-time control module of reversible pendulum system reversible pendulum system 204 is carried out software emulation and control with real-time, the video image with software emulation result and the real-time state of a control of inverted pendulum returns remote user computer 201 then.Experiment server 203 also comprises data acquisition system (DAS) 206.Data acquisition system (DAS) 206 is used to gather the experiment parameter of reversible pendulum system 204, and parameter is fed back to the real-time control module of reversible pendulum system of testing in the server 203, and then reversible pendulum system is controlled in real time.According to one embodiment of present invention, data acquisition system (DAS) 206 can be the data collecting card of high company admittedly.Inverted pendulum remote experiment system 200 as shown in Figure 2 also comprises the Video transmission system (Fig. 2 is not shown) that is used for catching the inverted pendulum realtime graphic and image is sent back remote user computer 201.Video transmission system comprises camera 205 and video transmission software.Camera 205 is connected with experimental system server 203, obtain the video image of reversible pendulum system 204 operation in real time, then video transmission software with taken video image by experiment system server 203 be transferred to and be presented in real time on the remote user computer 201 through network system 202.
With reference to figure 2, the experimenter (for example, the student) utilize remote user computer 201 to be remotely logged into the experimental system server 203 that links to each other with reversible pendulum system 204 through network system 202, by experiment system server 203 install data collecting card 206 send the control command that reversible pendulum system 204 is controlled, and show the software emulation result that receives from experimental system server 203 and the video image of the real-time state of a control of inverted pendulum in real time.
Fig. 4 shows a concrete example of inverted pendulum remote experiment system shown in Figure 2 400.As shown in Figure 4, inverted pendulum remote experiment system 400 of the present invention comprises remote user computer 401, network system 402, experiment server 403, reversible pendulum system 405 (that is controlled physical object) and camera 406.Wherein, user's (for example, being the student of experiment) can utilize remote user computer 401 to sign in to and test and carry out the inverted pendulum experiment on the server 403.Here, the long-distance user do not need to install be used to control reversible pendulum system software program (for example, MATLAB software), only just can finish whole inverted pendulum experiment (comprising the experiment of soft simulation and hardware) at loop section by Telnet inverted pendulum remote experiment server 403.Network system 402 is used to connect remote user computer 401 and experiment server 403 and communication between the two is provided.According to one embodiment of present invention, network system 402 can be any network type that the Internet, LAN (Local Area Network) etc. are suitable for carrying out data transmission.According to another embodiment of the present invention, remote user computer 401 can wired or wirelessly be connected to network system 402 with experiment server 403.
As shown in Figure 4, experiment server 403 Apache http server (as the Web server) platform that is based on the powerful Matlab software platform of calculating, drawing and copying (as the matlab webserver) and the PHP module is housed.Experiment server 403 comprises inverted pendulum emulation module and the real-time control module of reversible pendulum system.As shown in Figure 4, the inverted pendulum emulation module of experiment server 403 mainly comprises the MATLAB webserver and Simulink simulation software, is used for the reversible pendulum system 405 of experiment is carried out software emulation.And, the real-time control module of reversible pendulum system of experiment server 403 mainly comprises RTW (Real-time Workshop) tool box, MATLAB real-time window object tool box and MATLAB Simulink emulation tool, and it controls reversible pendulum system 405 in real time by data acquisition system (DAS) 404.In according to one embodiment of present invention, data acquisition system (DAS) 404 can be the data collecting card of high admittedly company exploitation.Here, by CGI (CGI (Common Gateway Interface)) technology and the MATLAB webserver, the MatlabM file that the long-distance user also can weave oneself is uploaded to the Matlab webserver of experiment server 403, wherein the M file is the parameter of control algolithm module in the inverted pendulum analogue system, can in real time simulation result be turned back to remote user computer 401 (Fig. 5 shows in inverted pendulum remote experiment system 400, the inverted pendulum soft simulation result's who shows computer screen sectional drawing) by the simulink simulation software on remote user computer 401.
Inverted pendulum remote experiment system 400 shown in Figure 4 also comprises Video transmission system and network video server.According to one embodiment of present invention, the Video transmission system of inverted pendulum remote experiment system 400 and network video server can adopt with testing the Microsoft NetMeeting that camera 406 that server 403 is connected and Windows operating system carries and make up among Fig. 4, and experiment server 403 is simultaneously also mutual as video server and camera 406.
By inverted pendulum remote experiment system shown in Figure 4 400, the long-distance user operates on remote user computer 401 and can finish whole inverted pendulum experiment (comprising that soft simulation and hardware are at loop section).
Below in conjunction with Fig. 8 and Fig. 4 experimental technique according to inverted pendulum remote experiment system of the present invention is described.
As shown in Figure 8, the inverted pendulum remote experiment method starts from step 801.At step 801 place, remote user computer signs in on the experiment server.For example, in the concrete example of inverted pendulum remote experiment system shown in Figure 4, the long-distance user is remotely logged on the Web server of experiment server 403 by remote user computer 401 through network system 402, selection enters the inverted pendulum experiment under the Matlab software interface, enters inverted pendulum experiment standby condition.Then, at step 802 place of Fig. 8, remote user computer server by experiment is provided with the inverted pendulum controlled variable and carries out reversible pendulum system emulation.And at step 803 place of Fig. 8, experiment server 403 returns the reversible pendulum system simulation result to remote user computer.For example, in the concrete example of inverted pendulum remote experiment system shown in Figure 4, experiment server 403 utilizes the Simulink simulation software to set up the realistic model of reversible pendulum system, the control algolithm module that analogue system is set is the parameter of controller, by this controlled variable little vehicle speed and acceleration in the inverted pendulum analogue system are controlled, and the reversible pendulum system system carried out emulation, observe the simulation result that returns from server and the related experiment data are carried out record by the virtual oscilloscope module in the software interface.The Matlab M file that the long-distance user also can weave oneself is uploaded to the Matlab server of experiment server 403, be the parameter of control algolithm module in the inverted pendulum analogue system in this M file wherein, can in real time simulation result be turned back to remote user computer 401 (Fig. 5 shows in inverted pendulum remote experiment system shown in Figure 4 400, the inverted pendulum soft simulation result's who shows computer screen sectional drawing) by the simulink simulation software on remote user computer 401.
Then at step 804 place of Fig. 8, the remote user computer transmitting control commands is to the experiment server, the experiment server is controlled reversible pendulum system by control system, simultaneously, take in real time with the camera that is connected of experiment server and the video image of captured reversible pendulum system state is transferred to remote user computer by video server through network system.For example, in the concrete example of inverted pendulum remote experiment system shown in Figure 4, controller parameter in the M file that 403 couples of long-distance users of experiment server upload is verified, judge whether it satisfies requirement of experiment, if satisfy, experiment server 403 adopts real-time control technology, uses Real-time Workshop tool box, Matlab real-time window object tool box and Matlab Simulink emulation tool under the Matlab platform, by data collecting card 404 operation reversible pendulum systems 405.Photoelectric code disk feeds back to servo control mechanism and data collecting card 404 with the position of the displacement of dolly 304 and rate signal and fork 301 and rate signal etc.; Experiment server 403 reads real time data from data collecting card 404, determine control decision (dolly 304 to which direction move, translational speed, acceleration etc.), and realize this control decision by data collecting card 404, produce the control corresponding amount, servomotor 302 is rotated, drive dolly 304 motions, thereby keep fork 301 balances.In experimentation, the operation conditions (comprising the position of dolly 304 and the angle of fork 301 etc.) of the 406 pairs of reversible pendulum systems 405 of camera that are connected with experiment server 403 is taken, and server 403 is passed captured image back remote user computer 401 in real time through network system 402 by experiment, check the operation conditions that reversible pendulum system 405 is real-time at the Netmeeting video window that integrated Windows carries under the software platform by experiment on the experiment user 401, (Fig. 6 and Fig. 7 show respectively in inverted pendulum remote experiment system 400 as the position of dolly 304 and the angle of fork 301, watching inverted pendulum to play the computer screen sectional drawing that is stabilized in the video image of plumbness under pendulum process and the control of inverted pendulum automatically on the remote user computer 401) at controller, thereby whether the controller parameter that check is uploaded can control the real system of inverted pendulum well, if poor effect, then the long-distance user's parameter that can adjust controller experimentizes again, to obtain satisfying the controller of response index.
Although experimental system server is based on emulation and the control that the Matlab software platform carries out reversible pendulum system in the above-mentioned preferred embodiment of the present invention, but those skilled in the art can know, the emulation of reversible pendulum system and the software platform of control also only are not limited to above-mentioned software, also can adopt other software platform to realize.In addition, except Netmeeting, the present invention also adopts other Network Video Transmission software to realize the transmission of video image.
Inverted pendulum remote experiment system of the present invention has the following advantages:
The safety simple to operate of experimental system, man-machine interface close friend, can provide the experimental situation that is not subjected to time, place and experimental facilities restriction for the tele-experimentation user by network, can solve experimental facilities problem in short supply, realization helps to improve experiment effect to the maximum utilization of existing experiment hardware resource.
Although invention has been described with reference to above-mentioned preferred embodiment of the present invention; but; should be appreciated that; under above-mentioned guiding of the present invention; those skilled in the art can carry out various improvement and distortion on the basis of the foregoing description, and these improvement or distortion drop in protection scope of the present invention.It will be understood by those skilled in the art that top specific descriptions just in order to explain purpose of the present invention, are not to be used to limit the present invention.Therefore, thought of the present invention is not limited to the embodiment of above explanation, and thought category of the present invention not only comprises the scope of claims record, also comprises with claim being equal to or distortion of equal value.
Claims (10)
1. an inverted pendulum remote experiment system comprises at least one reversible pendulum system, at least one experimental system server, at least one remote user computer, network system and Video transmission system, it is characterized in that:
Described network system is used to connect described remote user computer and described experimental system server;
Described experimental system server is connected to described reversible pendulum system, for described remote user computer provides remote access service, with the software emulation that carries out inverted pendulum experiment with to the control of described reversible pendulum system, and the video image of software emulation result and the real-time state of a control of inverted pendulum returned remote user computer;
Described remote user computer sends the control command that described reversible pendulum system is controlled by described experimental system server, and shows from the software emulation result of described experimental system server reception and the video image of the real-time state of a control of inverted pendulum; And
Described Video transmission system is connected with described experimental system server, take the video image of described reversible pendulum system operation in real time, and taken video image is transferred to remote user computer by described experimental system server through described network system.
2. experimental system according to claim 1, it is characterized in that, described Video transmission system comprises camera and video transmission software, described camera is taken the video image of described reversible pendulum system operation in real time, and video transmission software is transferred to remote user computer by described experimental system server through described network system with taken video image.
3. experimental system according to claim 1 is characterized in that, described network system is the Internet or LAN (Local Area Network).
4. experimental system according to claim 1 is characterized in that, described experimental system server further comprises and is used for obtaining experiment parameter and transmitting the data collecting card of control command to reversible pendulum system from reversible pendulum system.
5. experimental system according to claim 4, it is characterized in that, described experimental system server is based on Matlab software platform and Simulink simulation software, described subscriber computer is by after the described experimental system server of network system Telnet, utilize real time toolbox, Matlab real-time window object tool box and Matlab Simulink emulation tool, by described data acquisition card control reversible pendulum system.
6. experimental system according to claim 5 is characterized in that, described network system can be the Internet or LAN (Local Area Network).
7. reversible pendulum system tele-experimentation method may further comprise the steps:
Use remote user computer to sign in to experimental system server by network system;
Remote user computer system server by experiment is provided with the inverted pendulum controlled variable and carries out reversible pendulum system emulation;
Experimental system server returns the reversible pendulum system simulation result to remote user computer;
Experimental system server is controlled reversible pendulum system according to control command; And
Take the state of reversible pendulum system in real time and taken video image is transferred to remote user computer by video server.
8. reversible pendulum system tele-experimentation method as claimed in claim 7, wherein, described control command sends to experimental system server by the long-distance user by remote computer.
9. reversible pendulum system tele-experimentation method according to claim 7, wherein, described experimental system server is based on Matlab software platform and Simulink simulation software, described subscriber computer is by after the described experimental system server of network system Telnet, utilize real time toolbox, Matlab real-time window object tool box and Matlab Simulink emulation tool, by data acquisition card control reversible pendulum system.
10. reversible pendulum system tele-experimentation method as claimed in claim 7, wherein, the reversible pendulum system video image take by camera and by the video transmission software transmission to remote user computer.
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| CN102572518A (en) * | 2012-01-13 | 2012-07-11 | 河海大学 | VideoLan client (VLC)-based video image analysis platform and method |
| CN102646348A (en) * | 2012-02-22 | 2012-08-22 | 广西师范大学 | Remotely-controllable system for measuring gravitational acceleration by using simple pendulum method |
| CN104184772A (en) * | 2013-05-25 | 2014-12-03 | 海信（山东）空调有限公司 | Air-conditioner remote experimental data monitoring method based on Labview platform and system thereof |
| CN106249765A (en) * | 2016-09-10 | 2016-12-21 | 上海大学 | A kind of networking inverted pendulum control method merging compression image information |
| CN108391098A (en) * | 2018-04-28 | 2018-08-10 | 广州泽霖信息科技有限公司 | Internet of Things experimental device |
| CN110324412A (en) * | 2019-06-25 | 2019-10-11 | 北京航空航天大学 | A kind of ubiquitous sensor network experiment teaching system and its Experimental Teaching Method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102572518A (en) * | 2012-01-13 | 2012-07-11 | 河海大学 | VideoLan client (VLC)-based video image analysis platform and method |
| CN102572518B (en) * | 2012-01-13 | 2014-04-09 | 河海大学 | VideoLan client (VLC)-based video image analysis platform and method |
| CN102646348A (en) * | 2012-02-22 | 2012-08-22 | 广西师范大学 | Remotely-controllable system for measuring gravitational acceleration by using simple pendulum method |
| CN102646348B (en) * | 2012-02-22 | 2014-07-02 | 广西师范大学 | Remotely-controllable system for measuring gravitational acceleration by using simple pendulum method |
| CN104184772A (en) * | 2013-05-25 | 2014-12-03 | 海信（山东）空调有限公司 | Air-conditioner remote experimental data monitoring method based on Labview platform and system thereof |
| CN104184772B (en) * | 2013-05-25 | 2018-03-16 | 海信（山东）空调有限公司 | Air conditioner tele-experimentation data monitoring method and system based on Labview platforms |
| CN106249765A (en) * | 2016-09-10 | 2016-12-21 | 上海大学 | A kind of networking inverted pendulum control method merging compression image information |
| CN108391098A (en) * | 2018-04-28 | 2018-08-10 | 广州泽霖信息科技有限公司 | Internet of Things experimental device |
| CN110324412A (en) * | 2019-06-25 | 2019-10-11 | 北京航空航天大学 | A kind of ubiquitous sensor network experiment teaching system and its Experimental Teaching Method |
| CN110324412B (en) * | 2019-06-25 | 2020-09-29 | 北京航空航天大学 | Ubiquitous sensor network experiment teaching system and experiment teaching method thereof |
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