基于python和simulink实现控制器对被控对象的远程实时控制

基于python和simulink实现控制器对被控对象的远程实时控制

一、 简介

本文以python作为控制器，在simulink中搭建被控对象模型。技术点涉及python与simulink的数据交互、matlab实时仿真技术、python的数据可视化、增量式PID算法的编写等。有别于平时课上simulink仿真实验的模型和控制器同处一处，且仿真时间与CPU真实时间不同步。笔者将控制器和被控对象分离，实现远程的实时控制，与此同时也为硬件在环 / 半实物仿真提供了简单思考。

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二、simulink模型展示

利用RTsync实时仿真块实现simulink仿真时间与真实时间的同步，UDP Receive和UDP Send模块用于与python的数据交互。

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三、控制器的实现

import socket
import struct
import time

import matplotlib.pyplot as plt
import numpy as np
import os
def main():
    udp_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
    server = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
    localaddr = ("127.0.0.1", 54321)          
    client_addr = ("127.0.0.1", 8082) 
    udp_socket.bind(localaddr)                      
    count = 0
    u,error,error0,delt_u=0,0,0,0
    kp=5
    ki=0.2
    data_collect = []
    path = './'
    print("Please open the Simulink file under the current working directory")
    print("The program is waiting until you run the Simulink file.")

    while count<201:       
        recv_data = udp_socket.recvfrom(1024)
        recv_msg = recv_data[0]     ##bytes类型
        send_addr = recv_data[1]
        recv_msg_decode = struct.unpack("d", recv_msg)[0]    ##float类型
        data_collect.append(recv_msg_decode)
        print("Number from MATLAB %s is : %s" % (send_addr, str(recv_msg_decode))) 
        count += 1
        ##================做控制运算===================
        sp=1
        error=sp-recv_msg_decode
        print(error)
        delt_u=kp*(error-error0)+ki*error                                              ## kp=7  ki=1
        u=u+delt_u
        error0=error
        send_data = u
        send_msg_code = struct.pack('<d', send_data)             ##Byte类型
        server.sendto(send_msg_code, client_addr)               ##向matlab发送数据
        print(count)
        print("--------------------------------------------------------")
    # Close the udp socket.
    udp_socket.close()
    # ------------------------------------ Visualization -----------------------------------------------
    # Set the time axis, 30 is the simulation end time that can be modified by user.
    index = list(np.linspace(0, 30, (len(data_collect))))
    print(len(data_collect))
    plt.plot(index, data_collect)
    plt.title("Signal Received from Simulink")
    plt.xlabel("Time")
    plt.ylabel("Received Data")
    plt.savefig(os.path.join(path, 'data_figure.png'), dpi=600)
    print("Close the figure to restart.")
    plt.show()

if __name__ == "__main__":
    main()

四、结果曲线

五、完整资源地址

资源链接