Rapid Control Prototyping with MATLAB/Simulink Case Study: Ball-on-Wheel

Transcription

1 Rapid Control Prototyping with MATLAB/Simulink Case Study: Ball-on-Wheel Vasco Lenzi Application Engineer MathWorks 2017 The MathWorks, Inc. 1

2 Introduction From Ticino, studied Mech Engineer at ETHZ Formula Student Hybrid with IDSC 2009 Worked for IDSC as engineer/researcher Worked as embedded software developer (EVTEC, Liebherr Machines Bulle) Application Engineer at MathWorks since summer

3 Key takeaways Rapid Control Prototyping is the process of quickly applying control system theory and analysis to real systems Graphical block programming and automatic code generation free up time to focus on what matters: stability, robustness and verified algorithms Use the right tool for the right task 3

4 Bosch ebike Systems Develops Electric Bike Controller with Model-Based Design Challenge Develop the control system for an electric bike within a tight schedule Solution Use Model-Based Design with MATLAB and Simulink to design drive and motor control subsystems, run simulations and tests, and generate prototype and production code Results Designs updated and ready for retest in five minutes Code generated to meet safety standards Crucial market deadline met The primary business benefits of Model-Based Design are shorter development times and lower costs. For me, the biggest advantage comes from knowing that we could use generated code, which made it possible to debug at the model level in Simulink, not at the code level. Daniel Baumgärtner Bosch ebike Systems Link to user story 4

5 Alstom Generates Production Code for Safety-Critical Power Converter Control Systems Challenge Design and implement real-time power conversion and control systems for trams, metros, and railways Solution Use MathWorks tools for Model-Based Design to design, simulate, and automatically generate production code for safetycritical transportation systems Results Development time cut by 50% Defect-free, safety-critical code generated and certified Common language established Given the resources available to us, it would have been impossible to deliver this on schedule without MathWorks tools." Han Geerligs Alstom Link to user story 5

6 Case study Ball-on-Wheel Rapid Control Prototyping 6

7 Model-Based Design RESEARCH REQUIREMENTS How does my controller structure should look like? How big should the motor be? What s the impact on the controller? What model fidelity is good enough? Am I using the right techniques? DESIGN IMPLEMENTATION TEST AND VERIFICATION Requirements Verification and Validation INTEGRATION 7

8 Signal Processing Control Industry Best Practices Writing algorithm for embedded targets Graphical programming Simulink Stateflow C/C++-code in Simulink MATLAB Coding languages State Machine, Logic Modeling a plant First principles Simulink Simscape Language Transfer Functions System Identification Data driven Symbolic Math Simscape Simscape Multibody (CAD models) Neural Network 8

9 Model-Based Design RESEARCH REQUIREMENTS Faster design iterations Consistent high-quality code Target-independent Automatic Code Generation DESIGN IMPLEMENTATION TEST AND VERIFICATION INTEGRATION 9

10 Hardware Support for Project-Based Learning Supported target hardware Arduino Uno, Mega 2560, LEGO MINDSTORMS Raspberry Pi Model B, B+, 2, and 3 BeagleBone Black Samsung Galaxy Android Devices Apple iphone and ipad Microsoft Kinect Hardware for Project Based Learning Hardware Support 10

11 Model-Based Design RESEARCH REQUIREMENTS DESIGN IMPLEMENTATION TEST AND VERIFICATION One of the key industrial verification methodology: in-the-loop workflows INTEGRATION 11

12 In-the-loop verification methodologies Software-in-the-Loop Compiled Algorithm SIL Plant Model Is the generated code functionally equivalent to the model? 12

13 In-the-loop verification methodologies Processor-in-the-Loop Algorithm Plant Model Is the generated code functionally equivalent to the model? Non-Real-Time functional verification of the algorithm component Production embedded target 13

14 In-the-loop verification methodologies Hardware-in-the-Loop: HIL Algorithm Code Plant Model Code Does algorithm perform well on actual device with true latencies? Production embedded target Harness Real-Time Machine eg Speedgoat 14

15 Key takeaways Rapid Control Prototyping is the process of quickly applying control system theory and analysis to real systems Graphical block programming and automatic code generation free up time to focus on what matters: stability, robustness and verified algorithms Use the right tool for the right task 15

16 Appendix: Useful Links and Resources ETHZ 2017 The MathWorks, Inc. 16

17 Free MathWorks Online ETH Zürich Link 17

18 Shipping examples Command Window All Simulink control design examples Cascaded Multi-Loop Demo: openexample('control_featured/multilooptuningexample') Tune MIMO System: openexample('control_featured/controlsystemtuner_helicopterexample') Inverted Pendulum Control: openexample('control_featured/invertedpendulumexample') MIMO Control of Diesel Engines: openexample('control_featured/dieselengineexample') Simscape and Multibody examples: sm_cart_double_pendulum sm_backhoe 18

19 Internet of Things / Cloud MATLAB Online & Drive Thingspeak 19