eas.asu/~aar/research/mosart/Presentations/Barcelona/index.htm

Development of Interactive Modeling, Simulation, Animation, and Real-Time

Control (MoSART) Environments: Tools for Enhancing Research &

Education.

http://www.eas.asu.edu/~aar/research/mosart/Presentations/Barcelona/index.htm

Sponsors: Boeing, CADSI, AFOSR, Honeywell, Integrated Systems, Intel, Knowledge Revolution, Microsoft, National Science Foundation

Unitat d'Enginieria de Sistemes i Automàtica, June 15 1998

Armando A. Rodriguez Richard P. Metzger Jr. Chen-I Lim

Outline

Motivation

System Dynamics

Description of Interactive MoSART Environment

Utility of Environment

Summary and Future Directions

Motivation

Advanced visualization tools are needed for system analysis and design.

Research/education can be enhanced with interactive multimedia environments.

PC platforms now offer substantial computing power for engineering design.

State of the Art

Working Model (Knowledge Revolution)

DADS/Plant (CADSI)

…generic, not optimized for specific systems

(both have contributed to development of MoSART facility at ASU)

Contributions of Work

System-specific interactive MoSART

environments

High performance: Windows/ C++

Advanced visualization tools: Direct-3D

Extensible: integration with MATLAB

User friendly

Key Environment Features

•Real-time simulation•Alter model/controller:

-structure- parameters (on-the-fly)

• Advanced visualization:- real-time graphics- visual indicators/aids- 3D animation models

• Direct user input via joystick• Integration with MATLAB: advanced CAD tools

Interactive MoSART Environments

Robotic Manipulator

High-Performance Aircraft

Missile-Target Engagements

Pendulums: Inverted, Rotary, Multi-link...

Adaptive Algorithms/Learning Systems

Submarine Environment

Basic Helicopter Dynamics Near Hover

Vertical Dynamics

Longitudinal Dynamics

Vertical Dynamics Near Hover

- Collective control

Open loop poles:

Longitudinal Dynamics Near Hover

State Space Representation:

- Cyclic control

Unstable: backflapping mode

Open loop poles:

…need AFCS to minimize pilot workload

θ 0 1 0 θ 0

θ = 0 Mq Mu θ + MBlc Blc

x -g 0 Xu x xBlc

.

.. .

...

Horizontal damping mode



Open loop poles & zeros:


Lightly damped zero

Pitching Dynamics:



Open loop poles & zeros:


Horizontal Speed Dynamics:


Open loop poles & zeros: Lightly damped zero

P

“General” System Diagram

K

Exogenous signals

Control signals

Regulated outputs

Measurements

Specific System Diagram

Pentium PC

Windows ’95/NT

About the Program

System Requirements: Pentium 166 / Windows 95/NT. 32 MB RAM. Direct-3D 3.0.

Recommended: Pentium II 266 w/ MMX running Windows NT 4.0. 64 MB RAM. Direct-3D 3.0.

Visual C++/ MFC

Direct-3D v3.0MATLAB Engine

v5.0

Environment Structure

Program User Interface

Simulation Module

Graphical Animation Module

Help-Instruct Module

(PUI)

(SIM)

(GAM)

(HIM)

Program User Interface (PUI)

User Friendly Windows ’95/NT Interface

•Menus•Multiple windows•Control toolbars

Interactive System Diagram

•Block Diagram representation of system•Point-and-Click access

Use of the PUI

•Edit system parameters on-the-fly

• Change reference commands:

- Signal generator

- User joystick input

• Call up real-time graphs of signals & outputs

• Activate or deactivate a block

Through the point-and-click system diagram interface, a user can:

Simulation Module (SIM)

Numerical Simulation

On-the-Fly Parameter Editing

•Fast compiled C++: >3000 Hz / 266MHz PII•Better than real-time simulation

•Plant models•Controller parameters•Reference Commands, Disturbances, Noise, etc.•Integration methods: Euler, Runge-Kutta 4, etc.

Extensibility

Simulation Module: Extensibility

Changing plant parameters on-the-fly

Playback of externally generated simulation: e.g. MATLAB/SIMULINK

Dynamic linking: MATLAB Engine ...

(Edit Mode)

(Playback Mode)

(External-Link Mode)

Graphical Animation Module

(GAM)3D Animation

•Direct-3D•Texture-mapped, light-shaded polygons•Wireframe copters from previous simulations

•Real-Time Variable Display Window•2D Animation Window: pitch indicator•Real-time graph plotting

Visualization Tools & Indicators(SMAC)

Extensibility

Animation Module: Extensibility

Direct-3D standard file format

3D modeling packages: e.g. 3D Studio

Libraries of 3D objects widely available

Help-Instruct Module (HIM)

On-line Help

•Instructions on using the environment•Program reference

HTML Documents

•Model documentation•Interactive tutorials

Sikorsky UH-60 Blackhawk

Aerodynamic Derivatives Near Hover

Utility of Environment

Unstable backflapping mode

Open-loop joystick control

Stability of Closed-loop system under automatic control

Closed-loop user joystick control

Summary

Versatile system-specific interactive MoSART environments

Windows / C++ / Direct3D / MATLAB

User friendly: accessible & intuitive

User can alter system model structure & parameters (on-the-fly)

Highly extensible: can incorporate new simulation/animation models

Future Directions

More visual indicators

Advanced SIM and GAM

Expanded HIM: web support, multimedia

Enhanced integration with MATLAB

Integrated design & analysis environment

http://www.eas.asu.edu/~aar/research/mosart/Presentations/Barcelona/index.htmOnline presentation available at:

… development of MoSART Facility at ASU