Introduction to PoliArd
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1 Introduction to PoliArd Damiano Milani Politecnico di Milano Department of Mechanical Engineering
2 PoliArd Project PoliArd is a complete environment for implementing control logics on real-time hardware. It is based on Simulink software and Arduino hardware. It is developed and maintained by the Department of Mechanical Engineering and it is free to use for students. It includes: PoliArd Board: a real-time controller board PoliArd Library: a Simulink blockset PoliScope: an acquisition application Official website:
3 Outline The PoliArd Project PoliArd Board PoliArd Simulink Library PoliScope Examples
4 Outline The PoliArd Project PoliArd Board PoliArd Simulink Library PoliScope Examples
5 PoliArd Board The Board PoliArd Board allows to perform real-time control logics thanks to an Arduino Due board (32-bit ARM Cortex-M3). PoliArd Board presents several interfaces for generic input/output, motors, encoders You can find the board schematics at
6 PoliArd Board The Board
7 PoliArd Board Analog Inputs 6 Analog Inputs (12-bit ADC) ±10 V 2x4 Mini-Fit or BNC
8 PoliArd Board Analog Outputs 2 Analog Outputs (12-bit DAC) ±10 V BNC
9 PoliArd Board Motor driver 2 DC motor drivers 6, 12 or 24 Vdc PWM controlled Current sensor 2x1 Mini-Fit
10 PoliArd Board Encoder interface 4 encoder interfaces 2x2 Mini-Fit
11 PoliArd Board NTC Internal External (2x1 Mini-Fit)
12 PoliArd Board User I/O System Status/Alarm LEDs 2 configurable LEDs Enable switch 2 configurable switches 2 potentiometers
13 PoliArd Board Power Emergency button Power Status LEDs
14 Outline The PoliArd Project PoliArd Board PoliArd Simulink Library PoliScope Examples
15 PoliArd Library PoliArd Simulink Library Installing the PoliArd Library you can easily implement control logics on the PoliArd Board using a custom Simulink blockset. The supported version is MATLAB 2015a 64bit. First you need to download the Mathworks support for Arduino hardware, following these instructions: and download the Simulink package for Arduino Due. * Note that during this step and in the next one, some Antivirus software may freeze the installation processes.
16 PoliArd Library Library Installation You can download the required files from and run the MATLAB file install_palibrary.m following the instructions. With the same file you can remove or update from the official repository the library files. Requirements (supported and tested): Microsoft Windows OS 64bit MATLAB 2015a 64bit (available with the campus license) Arduino Due support package for Target Hardware
17 PoliArd Library Simulink Target Hardware To implement the control logics on the PoliArd Board, you need to setup any Simulink model: go to Tools menu, Run on Target Hardware and Prepare to Run From the new window select Arduino Due and check Enable overrun detection. In the Configuration Parameters window you can set the fixed-step size (minimum value suggested 0.001) and the stop time (could be inf).
18 PoliArd Library The PoliArd Library After installing the PoliArd Library, a new following blockset will appear in the Simulink Library Browser:
19 PoliArd Library PoliArd init This block must be present in any PoliArd model. It contains the initialization routines needed by the PoliArd Board. Alarm Useful to implement a custom alarm: when it is enabled, all the Digital Output, Analog Output and the motors are turned off. Only one Alarm block can be present in the same program.
20 PoliArd Library Analog Input Measures the voltage of a specified analog input pin. The block acquires the voltage as a digital value (12-bit ADC, , minimum to maximum). AI1-AI6: Input signals (±10 V) AI7: NTC (0-3.3 V) AI8-AI9: Potentiometers (0-3.3 V) AI10: Vdc (0-3.3 V) Do not assign the same pin number to multiple blocks within a model.
21 PoliArd Library Analog Output Set the value of a specified analog output pin. The block generates the voltage as a digital value (12 bit, , minimum to maximum). AO1-AO2: Analog Output (±10 V) Do not assign the same pin number to multiple blocks within a model.
22 PoliArd Library Digital Input Get the logical value of a specified digital input pin. DI2-DI3: Switch 2-3 Digital Output Set the logical value of a specified digital output pin. DO1-DO2: LED 1-2 Do not assign the same pin number to multiple blocks within a model.
23 PoliArd Library Encoder Get the Position counter value for the encoder selected. If Reset is enabled, the counter is set to zero. Encoder ID 1-4
24 PoliArd Library Motor Command the Motor selected, by imposing a proper voltage (input V signal is in volt). Enable boolean signal turns on the Motor. The block gets the measured Current (in ampere), the PWM (12 bit) and the DCbus (in volt) set internally. Be sure to select the proper Vdc! Motor ID 1-2
25 PoliArd Library Transmission Send data on serial port to PoliArd Scope software. The transmission frequency must be lower than the loop frequency and must match the parameter set in PoliArd Scope. The number of float signals must be specified in the block parameters. L1-L4: logical (boolean) values S1-S6: float (single precision 32-bit) signals
26 Outline The PoliArd Project PoliArd Board PoliArd Simulink Library PoliScope Examples
27 PoliScope Installation PoliScope is a virtual oscilloscope that reads, shows and records data from the PoliArd Board. You can download the installer here: Note: You can install PoliScope even without installing PoliArd Library. Just plug the USB cable to your PC and you will be able to connect to the PoliArd Board.
28 PoliScope Interface Boolean flags visualization Float signals configuration Acquisition controls
29 PoliScope Interface Plot toolbar Plots for signal visualization Time buffer slider
30 PoliScope Recording mode PoliArd Scope can write to file the data acquired. Before starting the acquisition, check the Recording box. PoliArd writes a configuration file, containing the details about the acquisition, and saves only the selected signals in multiple data files. The configuration file and the data files are stored in a folder named with a unique timestamp. N.B. When the acquisition is started, the board is reset!
31 PoliScope Configuration Panel You can set the name of the signals and the y-axes. The Recording Path is the base path for the saving folders. Warning Before the acquisition be sure to select the proper COM port. The sampling frequency and the number of signals must match the parameters configured in the Transmission block!
32 PoliScope You can import the saved data to MATLAB workspace. Use the MATLAB function PA_import.m that allows you to load and merge the files recorded with PoliScope. Syntax examples: acq = PA_import acq = PA_import(acq_dir) acq = PA_import(acq_dir,show_plot) acq = PA_import(acq_dir,show_plot,save_name) Wizard mode Acq folder Show plot (bool) Save to.mat You can download this function from:
33 Outline The PoliArd Project PoliArd Board PoliArd Simulink Library PoliScope Examples
34 PoliArd Programming Procedure 1. Check that the Emergency button is pushed down and the Enable switch is down 2. Create your Simulink model, setting the Target Hardware options (Arduino Due, Enable overrun detection, Fixed-step size) 3. Implement your Simulink model using blocks from the PoliArd Library (always insert PoliArd Init block) 4. Download your control logic to the PoliArd Board using the Deploy to Hardware button. Check if the procedure is successful. 5. Open PoliScope and start the acquisition 6. Release the Emergency button 7. Turn on the Enable switch on the board
35 PoliArd Shut-down procedure 1. Turn the Enable switch off 2. Press the Emergency button Emergency procedure Press immediately the Emergency button
36 PoliArd Warnings The last downloaded control logic is always resident and running on the PoliArd Board! Always check the Power Status LEDs to be sure that the power supply is not faulty Alarm or Overrun status can lead to unpredictable behavior of the system When the acquisition is started in PoliScope the board is automatically reset Simulink cannot upload a new program to the PoliArd Board if a serial connection is opened with PoliScope
37 Examples Digital and Analog signals
38 Examples DAC and ADC
39 Examples Motors and encoders
40 Acknowledgement Please report any bug or suggestion to the developers of the project: Andrea Costa Damiano Milani Davide Tarsitano Visit to download the last revision of the software.
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