Dynamic modeling and PID control of an underwater robot based on the hardware-in-the-loop method
Ruben Dario Hernández Beleño, Pablo Andrés Mora Gonzales, Oscar Fernando Avilés Sánchez, Janito Vaqueiro Ferreira
ARTIGO
Inglês
In this paper, the validation of the mathematical model for an aquatic robot is presented, by implementing it in MATLAB´s Simulink toolbox to evaluate the system’s natural behavior and then running it on a dSPACE card. Subsequently, a PID control for the robot’s depth, which is programmed, compiled...
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In this paper, the validation of the mathematical model for an aquatic robot is presented, by implementing it in MATLAB´s Simulink toolbox to evaluate the system’s natural behavior and then running it on a dSPACE card. Subsequently, a PID control for the robot’s depth, which is programmed, compiled and runned on the Fox Board G20 embedded system, will be designed, in order to apply the “Hardware-in-the-loop” simulation methodology and test the Fox Board as the simulated plant’s controller. For this, the dSPACE card is physically connected to the embebbed system through a RS232 communication protocol, where the data used for simulating the operation of sensors and actuators that make up the robot, are sent and received
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Dynamic modeling and PID control of an underwater robot based on the hardware-in-the-loop method
Ruben Dario Hernández Beleño, Pablo Andrés Mora Gonzales, Oscar Fernando Avilés Sánchez, Janito Vaqueiro Ferreira
Dynamic modeling and PID control of an underwater robot based on the hardware-in-the-loop method
Ruben Dario Hernández Beleño, Pablo Andrés Mora Gonzales, Oscar Fernando Avilés Sánchez, Janito Vaqueiro Ferreira
Fontes
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International review of mechanical engineering Vol. 10, no. 7 (2016) |