Modelling, Simulation, and Real-Time Testing for Model-Based Design GianCarlo Pacitti Application Engineer MathWorks

Transcription

1 Modelling, Simulation, and Real-Time Testing for Model-Based Design GianCarlo Pacitti Application Engineer MathWorks The MathWorks, Inc.

2 What s great about simulation? 2

3 What s great about simulation? You can do a lot of tests You can automate them Tests are repeatable Easy to investigate issues You don t need physical hardware 3

4 Doing simulation keeps getting easier Ever-increasing range of modelling constructs Ecosystem Physical modelling tools Specialist application-specific tools Design and analysis tools Verification and validation tools Parallel computing tools and data analysis in MATLAB Model management tools 4

5 Development Process System Requirements Simulation Rapid Prototyping Proof-of-Concept System Design Real-Time Testing Software Design Software Integration System Integration and Tuning Hardware-in-the-Loop Testing Hardware/Software Integration Implementation Production Code Generation 5

6 Example applications for these workflows Developing a proof of concept video processing algorithm Developing a motor control algorithm for a new brushless DC motor In all cases, simulation is the starting point 6

7 The Next Step: Real-Time Testing Prove the effectiveness of the design in the real world Test controller against a real plant Verify interfaces/electrical characteristics Measure performance Stimulate a device and acquire data Black box testing 7

8 What s hard about running on hardware? It s complicated! Producing a real-time implementation Low-level hardware set-up Tool-chain configuration Multiple environments Hardware options Debugging issues? 8

9 How can I get to hardware from Simulink? Data Acquisition Toolbox, Instrument Control Toolbox, Vehicle Network Toolbox Run on Target Hardware capability in Simulink Support Packages for other development boards Real-Time Windows Target xpc Target How do these tools help with the complexity of running on hardware? 9

10 Run Simulink models on low-cost hardware With just a click, your model moves from Simulink onto hardware Supported target hardware Raspberry Pi Arduino Uno and Mega 2560 LEGO MINDSTORMS NXT BeagleBoard and more 10

11 Example: Ball tracking on a Raspberry Pi 12

12 Run On Target Hardware Early stage prototyping/lab experiments Low cost hardware Relatively limited I/O Examples: EXPO RFID tags LEGO robot competition Proof of concept video processing algorithm 13

13 EXPO RFID Experiment Arduino-based Active RFID Tag CR2032 3V Lithium battery Aerial RF12 433MHz Transceiver Raspberry Pi Base-Station UDP connection to database Raspberry Pi Basestation specific RFID Tag ATMEGA 328P from Arduino RFID tags and base-stations programmed using Run On Target Hardware feature from Simulink Serial communication between transceiver and base-station 14

14 Support Package Downloads >> targetinstaller Growing list of support packages available for a range of devices Only requires Simulink 15

15 Real-Time Testing using xpc Target xpc Target enables you to execute Simulink models on a target computer for rapid control prototyping, hardware-in-the-loop (HIL) simulation, and other real-time testing applications. 16

16 xpc Target Hard real-time Powerful processing capabilities Reconfigurable and flexible I/O Extensive data logging, profiling Applicable across multiple applications/projects Examples: Control system for Bloodhound SSC Real-time simulator for Dual Clutch Transmission Real-time testing for brushless DC motor control 17

17 Brushed DC vs. AC Motor Control Brushed DC Motor Control : Mechanical Commutation Brushless DC Motor: Electrical Commutation Battery Embedded Controller Software Inverter 18

18 Build better models with real-time testing How can I use real-time testing to build a better model? Characterise a plant Optimise a controller Verify a system design Test Identify Parameters Verify 19

19 Workflow Model your system, design your controller, and test in real-time System Model Controller Model Motor Model Controller Motor C/HDL C Code Code Hardware Real-Time Control System 20

20 Model your system using MATLAB and Simulink System Model Controller Model Motor Model Controller Motor C/HDL C Code Code Hardware Real-Time Control System 21

21 Coast Down Test Test Extract Parameters Verify Coast down test used to identify: Rotor inertia (H) 22

22 Identify Rotor Inertia (H) Test Extract Parameters Verify dω r dt = 1 H T em bω r J 0 T load If T load = 0 T em = 0 Then ω r = ω r0 + J 0 b b e H t J 0 b Note: J 0 and b are known from friction test. Curve fit equation for ω r to find H. 23

23 Validate Coast Down Test Test Extract Parameters Verify 24

24 Design your controller through simulation System Model Controller Model Motor Model Controller Motor C/HDL C Code Code Hardware Real-Time Control System 25

25 Demo: Tune Controller using Optimisation 26

26 Test and Verify your design System Model Controller Model Motor Model Controller Motor C/HDL C Code Code Hardware Real-Time Control System 27

27 Demo: Validated Control Design 28

28 Development Process System Requirements Controller Rapid Prototyping Proof-of-Concept Motor System Design Real-Time Testing Software Design Software Integration System Integration and Tuning Hardware-in-the-Loop Testing Hardware/Software Motor Integration Controller Implementation 29

29 In conclusion Simulation allows you to design and test systems far more extensively than is possible with physical tests Real-time testing helps you build better models, and eliminate bugs in your design before going to the final hardware Simulink tools and support packages help manage the complexity of getting to hardware for real-time testing 30

30 Questions? 31