论文标题
Edubal：一个开放的平衡机器人平台，用于教学控制和系统理论
EduBal: An open balancing robot platform for teaching control and system theory
论文作者
论文摘要
在这项工作中，我们提出了Edubal，这是一个平衡机器人的教育开源硬件和软件平台。该机器人旨在低成本，安全且易于使用，可用于控制教育。与机器人一起，我们介绍了系统识别以及SISO和MIMO控制的示例任务。使用Simulink，学生可以在机器人上快速实现其控制算法。可以在分析实时信号图中产生的行为时在线调整个体控制参数。到目前为止，在亚太大学和苏黎世Eth University和Eth Zurich 28个单位已被建造和使用。在第一次实验室体验中，学生表现出高度的内在动机和创造力，以将所研究的控制理论概念应用于真实系统。
In this work we present EduBal, an educational open-source hardware and software platform for a balancing robot. The robot is designed to be low-cost, safe and easy to use by students for control education. Along with the robot we present example tasks from system identification as well as SISO and MIMO control. Using Simulink, students can quickly implement their control algorithms on the robot. Individual control parameters can be tuned online while analyzing the resulting behavior in live signal plots. At RWTH Aachen University and ETH Zurich 28 units have so far been built and used in control classes. In first laboratory experiences students show high intrinsic motivation and creativity to apply the studied concepts of control theory to the real system.
