The Research and Application of Servo Control Real-Time Simulation System Based on dSPACE System

摘要

Recently, Robot soccer match which is considered as high tech rivalry platform is quickly developed in international. Much knowledge is integrated into it, such as mechanic, electric, control, pattern identification, image processing and so on. Based on software and hardware environment of dSPACE real-time simulation system, study and development of soccer robot servo control system is completed by applying modeling methods of MATLAB/Simulink. Actual controlled object-soccer robot is placed inside simulation loop for simulation study. By watching system running, adjusting control parameters on line, testing dynamic system performance, identifying soccer robot model with tested experiment data, satisfactory control result is achieved. Simulation result approves the system was a very good research platform.