利用網際網路之控制教學輔助系統設計

Abstract

本論文提出在網際網路上實行控制教學輔助系統的設計，教學實驗的器材將由實驗室進入到個人的電腦中，系統的主要特點為使用者只需要透過一台具有普通功能的電腦和web瀏覽器便可對在遠端的倒單擺進行控制。WWW提供了友善的使用者介面及由CCD攝影機所擷取的倒單擺即時影像，而控制實驗的結果及系統時域響應圖會在線上立即的紀錄和描繪讓使用者評估所設計控制器是否成功。

This thesis proposes a teaching auxiliary system on control via World Wide Web, which is part of the Internet computer network. The equipments of teaching experiment are moved from laboratory to user's computer. The main feature of this system is that users just need a general-purpose computer and a World Wide Web browser to control the inverted pendulum in a remote site through Internet and Home Page. The World Wide Web provides a friendly user interface, and live images captured by a CCD camera. The on-line experimental control results are also recorded and plotted immediately so that user could judge whether the control succeeds or fails based on these results. 1.1 Motivation and Purpose……………………………… 1 1.2 Organization of the Thesis………………………… 2 Chapter 2 System Structure Description 3 2.1 System Architecture……………………………………… 3 2.1.1 Client…………………………………………… 5 2.1.2 Server…………………………………………… 5 2.1.3 Networks………………………………………… 5 2.2.4 Controller……………………………………… 6 2.2 System Overview……………………………………………… 7 2.2.1 Hardware Implementation……………………… 9 2.2.2 Mathematical Model…………………………… 11 2.3 Software Design……………………………………………… 14 2.3.1 Controller Design……………………………… 14 2.3.2 Assignment of the Server…………………… 16 2.3.3 User Interface………………………………… 18 Chapter 3 Inverted Pendulum Control Through the World Wide Web 20 3.1 Operation of the Inverted Pendulum…………………… 20 3.2 Detail of Implementation………………………………… 29 3.2.1 WWW-Server Configuration and Operation 29 3.2.2 CGI………………………………………………… 30 3.2.3 Serial Communication………………………… 35 3.2.4 Vision System…………………………………… 39 3.2.5 Plot……………………………………………… 42 Chapter 4 Experiment Results 44 4.1 PID Controller……………………………………………… 44 4.2 Discussion…………………………………………………… 45 Chapter 5 Conclusion 49 References 51 Appendix A Specifications of the Units of Implemental Hardware 53