Interactive Modeling, Simulation, Animation, and Real-Time Control (MoSART) Flexible Inverted Pendulum Environment http://www.eas.asu.edu/~aar/research/mosart Jose I. Hernandez Richard P. Metzger Jr. Chen-I Lim Armando A. Rodriguez Ack : White House , NSF, WAESO/CIMD, Boeing, Intel, Microsoft, CADSI, Knowledge Revolution, MathWorks, Lego, Xilinx, Honeywell, National Instruments, Integrated Systems, ASU CIEE. ASEE Pacific Southwest Meeting `99 Saturday, March 20 th 1999 Harrah’s Hotel Las Vegas, Nevada
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Interactive Modeling, Simulation, Animation, and Real-Time Control (MoSART) Flexible
Inverted Pendulum Environment
http://www.eas.asu.edu/~aar/research/mosart
Jose I. Hernandez Richard P. Metzger Jr. Chen-I Lim Armando A. Rodriguez
Ack : White House , NSF, WAESO/CIMD, Boeing, Intel, Microsoft, CADSI, Knowledge Revolution, MathWorks, Lego, Xilinx, Honeywell, National Instruments, Integrated Systems, ASU CIEE.
ASEE Pacific Southwest Meeting `99
Saturday, March 20th 1999
Harrah’s Hotel
Las Vegas, Nevada
Motivation
Flexible Inverted Pendulum (FIP) System Dynamics: Model & Control Laws
Description of Interactive MoSART FIP Environment
Utility of Environment
Summary and Future Directions
OutlineOutline
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.
Motivation
New Technologies• Affordable High Performance Computing• Hi-fidelity Simulation Capability
– Simulink / MATLAB, etc…– Visual C++
• PC Animation Creation / Manipulation Technologies– 3D Modeling Software (e.g. 3D Studio, RPM D3D toolbox,
etc.)– Microsoft DirectX (provides: 3D-animation, sound, video,
user-input, etc.)
• Object Oriented Programming (OOP) Framework– ActiveX / OLE
New Technologies
• Accelerated-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, mouse, etc.• Integration with MATLAB and Simulink
Cartpend.exefxdbasepend.exe
RotaryPend.exe
Key Environment Features
System-specific interactive MoSART
environments
High performance: Windows/ C++
Advanced visualization tools: Direct-3D
Extensible: integration with MATLAB
User friendly
Contributions of Work
1
2
l
m
b
f
x
k t
1
2
h
c
in
1
c
l
m
b
d
l
c
1
m2
2b
Flexible Inverted Pendulum (FIP) System
Controls and OutputsControls and Outputs
xp
(N) ForceInput inf
Inputs, up Outputs, yp
x = Cart Position (m)
1= Link 1 Angle (rad)
ppp
ppppp
xCy
uBxAx
States, xpStates, xp
/sec)locity(radangular ve 2Link :6
(rad/sec)locity angular ve 1Link :5
(m/sec)ity Cart veloc x:4
(rad) angle 2Link :3
(rad) angle 1Link :2
(m)position Cart x :1
2
1
2
1
FIP Linear Model
FIP Linear Model
Unstable pole
Plant Analysis
Classical
Pole Placement
LQG/LTR
H (1)
H (2)
Control Laws
Pentium PC
Windows ’95/’98/NT
System Requirements: Pentium PC running 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
About the Program
Communication Module (COM)
ProgramUser Interface
(PUI)
Simulation Module
(SIM)
Graphical Animation Module
(GAM)
Help/InstructModule(HIM)
Physical System Simulink MATLAB InternetOther
Applications
Interactive Environment Application
ActiveX
Interactive MoSART Environment Modules
(PUI)User Friendly Windows ’95/NT Interface
•Menus•Multiple windows•Program control toolbars
Interactive System Diagram
•Block diagram representation of system•Point-and-click access