本論文旨在建立一即時(Real-Time)硬體迴路(Hardware-in-the-Loop, HIL)平台，此平台以MathWorks公司所開發的xPC Target System為基礎，其架構由兩台電腦所組成，以MATLAB/Simulink為軟體介面，並搭配各式類比(analog)和數位(digital)介面進行訊號格式的轉換與傳輸，實現一個可以快速模擬、測試以及開發控制系統的平台，在此上平台可以快速地建立控制系統的模型，並利用即時電腦的運算能力，進行系統的即時模擬，透過此平台可以快速地進行系統的原型化(prototyping)設計，而且對於某些複雜且龐大的系統，可以節省設計過程中所需的時間、人力與金錢。在本論文中，吾人將對三種不同的系統進行數學模型推導以及控制器之設計，分別是球與輪系統、單輪車系統與火箭系統，最後分別將此三種系統載入即時硬體迴路平台，進行即時控制，以驗證系統響應與即時硬體迴路平台之性能。

The objective of this thesis is to construct a platform for the purposes of real-time hardware-in-the-loop (HIL). This platform is based on the xPC Target System developed by MathWorks, and uses two computers and the MATLAB/Simulink to serve as the software interface. With two types of analog and digital interfaces for signal conversion and transmission, the platform can realize rapid simulation, testing and developing of control systems. Using this platform, one can quickly build the dynamic models of systems and use the real-time computational ability of Target PC to carry out the real-time simulation. It can carry out prototyping design quickly, and can save time, manpower and money for developing some complex and large systems in the design phase. In this thesis, we derive mathematical models of three different systems, namely the ball and wheel system, unicycle robot system and rocket system. The corresponding controllers are also designed. Finally, these obtained control systems are implemented on the developed real-time HIL platform for real-time control to verify the system responses and test the performance and effectiveness of real-time HIL.

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