My name is Robert and I am an undergraduate student at UIUC. I am currently working on a project and was wondering whether or not Matlab would be helpful in my endeavor. Before I start fiddling around and start putting in a lot of effort into this Matlab/Simulink project I was wondering if it was worthwhile. The project idea is as follows:
I am designing a quadrotor (at the moment only a one axis balancing arm that pivots on an axle with a motor/propeller on each end of the arm). I have an encoder attached to the axle that records the actual position of the arm. I was hoping to implement a PID controller that would adjust the propeller speeds accordingly so it goes to the exact position I specify in the shortest amount of time. My question are, can I provide Matlab with real time streaming data coming from the quadrotor and the encoder and design a pretty good PID control using the control system PID toolkit and autotuner PID toolkit? Is this feasible? I can stream data coming from the quadrotor and encoder into an excel file.. What would be the best way to go about this, I am very new to MatLab and only know the basics, although I am a very avid programmer.
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Matlab/Simulink is the right tool for your task, however, you need to understand that Matlab/Simulink mostly runs simulation on your computer, it is not fit for real-time control, especially for your task which sounds timing critical to me. There is a toolbox called xPC Target which allow you to boot your computer with RTOS and use it for real-time control. You can also use third party rapid prototype system for the real-time task. The typical procedure is that your build your controller plus your motor plant model in Matlab/Simulink environment and try-and-error your design till you get good performance. Then you can automatically generate C code, compile it and download to your real-time system (xPC target or rapid prototype) which has hardware I/O that can interface with your motor hardware.
Thank you Fangjun, I like the second option you listed, rapid prototype in the simulink/matlab environment and then generate C code and try it out on my real desk model. I was playing around with simulink and I came up with a design process. Can you check if I am moving in the right direction.
I will first import my quadrotor Autocad Inventor model through sim mechanics and then run PID simulations on the model. After perfecting my model software, I will convert it to C code (which I am not to sure how its done..) and test it out on my quadrotor. What do you think?
Hi Robert are u done with quadrotor modeling now or not? does that C code generation approach helped u i am also doing quad rotor project.
Hi guys, I was working on modelling and controlling a quad rotor flying robot. And finally I am done with the whole process. However, lately I thought of simulating the robot in a 3D trajectory plane or may be an environment to track it's path and see the differences UN-controlled and after controlling. I don't wanna write lots of complex mathematical equation to describe what I wanna do in order to make it easy for anyone to help me.
My question is simple as follows: I have 6 equations that give 6 different outputs (X Y Z theta Phi Epsi). All what I need from anyone is tell me how to connect 6 different equation with 1 block diagram that translates these outputs in a 3D space.