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SOFTWARE REVIEW

Rapid Embedded Programming in the Mathworks Environment

[+] Author and Article Information
Daniel Burns, Thomas G. Sugar

Arizona State University, Mechanical and Aerospace Engineering, Tempe, AZ 85283

J. Comput. Inf. Sci. Eng 2(3), 237-241 (Jan 02, 2003) (5 pages) doi:10.1115/1.1519836 History: Received March 01, 2002; Revised September 01, 2002; Online January 02, 2003
Copyright © 2002 by ASME
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References

Rutz,  R., and Richert,  J., 1995, CAMeL: An Open CACSD Environment, IEEE Control Syst., 15(2), pp. 26–33.
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Elmquist, H., and Mattsson, S., 1997, “Modelica-The Next Generation Modeling Language,” Proc. of the 1st world Congress on System Simulation.
Burst, A., Wolff, M., Kühl, M., and Müller-Glaser, K. D., 1998, “A Rapid Prototyping Environment for the Concurrent Development of Mechatronic Systems,” ECEC’98, Erlangen, Germany.
ControlShell™, http://www.rti.com.
dSpace TargetLink™, http://www.dspaceinc.com.
LabView RT™, http://sine.ni.com/apps/we/nioc.vp?cid=3304&lang=US.
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Bradley, D., 2000, “Mechatronics–An Established Discipline or a Concept in Need of Direction,” Proceedings of the 7th Mechatronics Forum International Conference 2000.
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Figures

Grahic Jump Location
The desired ramp trajectory for the DC motor is the upper straight line and the actual ramp is shown below. A very good PID controller can be designed, analyzed, simulated, and implemented with automatic code generation tools in the Mathworks environment.
Grahic Jump Location
A motor actuating a force feedback joystick is interfaced to an H-bridge Amplifier, and the chip is commanded by a single-board target computer (in the black framed case). The target computer runs the xPC Target operating system, which allows rapid code development, data collection over TCP/IP networks, and advanced parameter updates. The host computer on the right runs the MATLAB environment under Windows, and graphical controllers are developed using standard GUI’s.
Grahic Jump Location
Simulink models showing the simulation (top) and hardware version (bottom). After MATLAB compiles the hardware version, code is downloaded to the target for execution.
Grahic Jump Location
Data collected remotely shows the PID controller actuating a force feedback joystick in real-time. All software required to control the joystick’s motor was automatically generated. The controller was designed, simulated, and tested on actual hardware in the same day.
Grahic Jump Location
Simulink models showing the simulation (top) and hardware version (bottom). After MATLAB compiles the hardware version, code is downloaded to the target for execution.
Grahic Jump Location
Data collected by xPC Target during hardware execution of the designed model reference adaptive controller. The commanded input signal, model reference commanded input signal, and the measured output are shown.
Grahic Jump Location
A motor control board with a microprocessor, LM629, and an H-bridge amplifier, 18201.
Grahic Jump Location
Flow diagram of the motor control system.
Grahic Jump Location
Six motor control boards wired and connected to the Target PC.

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