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Mechatronic Systems, Simulation, Modeling and Control Part 10

Tham khảo tài liệu 'mechatronic systems, simulation, modeling and control part 10', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 236 Mechatronic Systems Simulation Modelling and Control output variable and input the name unit of display variables for the GUI. Figure 17 shows the dialog provided by the GUI of the integrated environment and it is used to input the name unit of display variables for the GUI. After the above information is inputted the Real-Time program is generated automatically. And the variable displayed on the GUI is added the display of the GUI is changed for the pendulum. Fig. 17. Display variable name unit for GUI The experiment is executed after select the generated RT control program the module of the experimental apparatus and input the parameter of the controller. Figure 18 shows the screen of the RTWindow which is executing the control experiment. It is shown that the GUI has changed for the inverted pendulum by using the information input by Fig. 17 by comparison Fig. 13 and Fig. 18. Figure 19 shows the experiment results and abscissa axis is time sec ordinate axis is angle of the pendulum rad . And the sampling time of the experiment is 5 ms . As shown in Fig. 19 the angle of the pendulum is close to the 0 rad the experiment of the stabilization control of the inverted pendulum become successful. Integrated Environment of Simulation and Real-Time Control Experiment for Control system 237 Fig. 18. Execution of control experiment t s Fig. 19. Experiment results of stabilization of inverted pendulum 5. Conclusions This paper proposed the methods which make the execution of the iterative design process of control system efficiently. In particular this paper proposed the method which is based on the RT control framework transformation of a program using the object model and separation of platform dependent parts. And we developed the integrated environment for the simulation and the Real-Time control experiment which is the implementation of proposed methods. The effectivity of the proposed methods was shown by the stabilization of an inverted pendulum. 238 Mechatronic