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Development of Interactive Modeling, Simulation, Animation, and Real-Time Control ( MoSART ) Environments for Research a

Development of Interactive Modeling, Simulation, Animation, and Real-Time Control ( MoSART ) Environments for Research and Education. Armando A. Rodriguez Chen-I Lim Richard P. Metzger Jr. . Multidisciplinary Initiative on Distance Learning (MIDL) Seminar

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Development of Interactive Modeling, Simulation, Animation, and Real-Time Control ( MoSART ) Environments for Research a

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  1. Development of Interactive Modeling, Simulation, Animation, and Real-Time Control (MoSART) Environments for Research and Education Armando A. Rodriguez Chen-I Lim Richard P. Metzger Jr. Multidisciplinary Initiative on Distance Learning (MIDL) Seminar Thursday, November 19th 1998, Arizona State University MoSART http://www.eas.asu.edu/~aar/research/mosart/Presentations/

  2. Outline • Motivation • Description of Interactive MoSART Environments • Development of Environments • Utility of Environments • Summary and Future Directions

  3. di do e u y r K P Plant Controller n Control System Design • Design K based on model Po s.t. nominal CLS exhibits: • Stability and Stability Robustness • Good Command Following • Good Disturbance Rejection • Good Noise Attenuation • Robust Performance

  4. FAME • Flexible Autonomous Machines operating in an uncertain Environment • semiconductor processes and manufacturing • robotics and automation • advanced vehicles and transportations systems

  5. State of the Art • Working Model (Knowledge Revolution) • DADS/Plant (CADSI) …generic, not optimized for specific systems (both are industrial sponsors)

  6. Motivation • Advanced visualization tools are needed for system analysis and design. • Research / education can be enhanced with interactive multimedia environments. . . .New Enabling Technologies

  7. New Technologies • Affordable High Performance Computing • Hi-fidelity Simulation Capability • Simulink / MATLAB, etc… • Visual C++ • PC Animation Creation / Manipulation Technologies • 3D Modeling Software (e.g. 3D Studio, RPM D3D toolbox, etc.) • Microsoft DirectX (provides: 3D-animation, sound, video, user-input, etc.) • Object Oriented Programming (OOP) Framework • ActiveX / OLE

  8. Other New Technologies • PC-based Networking • Windows NT • Distributed Computation • Distributed Component Object Module (DCOM)

  9. Contributions of Work • User friendly system-specific interactive MoSART control environments • High performance: Windows / C++ • Advanced visualization tools: Direct 3D • Extensible: integration with MATLAB / Toolboxes • A-Labenables extensibility via SIMULINK

  10. MoSART Facility (Under Development) • Distributed Systems and Controls Lecture / Laboratory / Research Facility • 50 Networked PC-workstations • Sponsors: • NSF, Intel, Microsoft, Boeing, Xilinx, SEM, Mathworks, ISI, CADSI, Knowledge Revolution, National Instruments

  11. Interactive MoSART Environments Under Development • Pendulums: • Fixed Base, Cart, Rotary Arm, Flexible, Seesaw-Cart, Ball and Beam • PUMA 560 Robotic Manipulator: Single, Dual, Multiple. • Helicopter: Single and Twin Lift • High-Performance Aircraft • Submarine • Missile-Target Engagements • Adaptive Learning Algorithms (“Evasive Monkey”) • Launch Vehicle • Satellite • Spring-Mass-Dashpot • Ball and Beam

  12. Direct 3D Visualization Model - Fixed Base Pendulum

  13. Direct 3D Visualization Model - Cart Base Pendulum

  14. Key Environment Features • Accelerated-time simulation • Alter model/controller: • structure • parameters (on-the-fly) • Advanced visualization: • real-time graphics • visual indicators/aids • 3D animation models • Direct user input via joystick, mouse, etc. • Integration with MATLAB and Simulink

  15. Sikorsky UH-60 Blackhawk Aerodynamic Derivatives Near Hover

  16. Vertical Dynamics Near Hover Z / Blc - Collective Control Open loop poles: Vertical Damping Mode

  17. Longitudinal Dynamics Near Hover .  0 1 0  0  = 0 MqMu  MBlc Blc x -g 0 Xu x xBlc .. . .. . . X / Blc Blc - CyclicControl Open loop poles:  / Blc Unstable Backflapping Mode Horizontal Damping Mode …need AFCS to minimize pilot workload

  18. Longitudinal Dynamics Near Hover Transfer function: Zero near origin Open loop poles & zeros: Performance-Pitch Tradeoff:

  19. General System Diagram

  20. Horizontal Speed Controller Controller #1 (proportional only) Controller #2 (Dynamical Feedback)

  21. Horizontal Speed Controller Cyclic control, Blc . Desired speed Speed, x Horizontal Speed Dynamics k (s+2.5) s + - (s+1)2 (2500) ( s + 50 )2

  22. About the Program MATLAB Engine v5.0 Direct-3D Visual C++/ MFC Windows ’95/NT Pentium PC System Requirements: Pentium PC running Windows 95/NT. 32 MB RAM. Direct-3D 3.0. Recommended: Pentium II 266 w/ MMX running Windows NT 4.0. 64 MB RAM. Direct-3D 3.0.

  23. Interactive Environment System Modules Interactive Environment Application Program User Interface (PUI) Simulation Module (SIM) Graphical Animation Module (GAM) Help/Instruct Module (HIM) Communication Module (COM) Physical System Simulink MATLAB Other Applications Internet ActiveX

  24. Environment Structure (PUI) • Program User Interface • Simulation Module • Graphical Animation Module • Communications Module • Help-Instruct Module (SIM) (GAM) (COM) (HIM)

  25. Program User Interface (PUI) • User Friendly Windows Interface • Menus • Multiple windows • Program control toolbars • Interactive System Diagrams • Block diagram representation of system • Point-and-click access

  26. Use of the PUI Through the point-and-click system diagram interface, a user can: • Edit system parameters on-the-fly • Change reference commands: • - Signal generator • - User joystick input • Call up real-time graphs of signals & outputs

  27. Simulation Module (SIM) • Numerical Simulation • Fast compiled C++: >3000 Hz / 266MHz PII • Better than real-time simulation • On-the-Fly Parameter Editing • Plant models • Controller parameters • Reference Commands, Disturbances, Noise, etc. • Integration methods: Euler, Runge-Kutta 4, etc. • Extensibility

  28. Simulation Module: Extensibility • Changing plant parameters on-the-fly • Playback of externally generated simulation: e.g. MATLAB/SIMULINK • Dynamic linking: MATLAB Engine ... (Edit Mode) (Playback Mode) (External-Link Mode)

  29. Graphical Animation Module (GAM) • 3D Animation • Direct-3D • Texture-mapped, light-shaded polygons • Wireframe animations from previous simulations • Visualization Tools & Indicators • Real-Time Variable Display Window • 2D Animation Windows: indicators • Real-time multiple-graph plotting • Extensibility (SMAC)

  30. Animation Module: Extensibility • Direct-3D standard file format (.x files) • 3D modeling packages: e.g. 3D Studio • Libraries of 3D objects widely available: Internet & commercial vendors.

  31. 3D Mesh Libraries • http://www.3dcafe.com

  32. Communication Module (COM) • Internal data between environment system modules • External Application Communication • Transfer saved simulation data between files and application • Communicate with different applications on the same PC using Microsoft’s ActiveX • Communicate with different applications on different computers (e.g. UNIX) through internet (TCP/IP) / network

  33. External Commmunication : Example of Simulation Data Flow A-Lab SIMULINK Simulation Animation Module Animation block COM Module Active-X Automation Active-X Interface S-Function (.DLL)

  34. A-LAB • Consists of several System-Specific Animation-Enabler Blocks (AEBs) (SIMULINK plug-ins)….6 DOF AEB SIMULINK

  35. Help-Instruct Module (HIM) • On-line Help • Instructions on using the environment • Program reference • HTML / PDF Documents • Model documentation/ references • Interactive tutorials

  36. Summary • Versatile system-specific interactive MoSART environments • Windows / C++ / Direct-X / MATLAB • User friendly: accessible & intuitive • User can alter system model structure & parameters (on-the-fly) • Highly extensible: ability to incorporate new simulation/animation models

  37. Future Directions • More visual indicators • Advanced SIM and GAM (e.g. TLHS) • Expanded HIM: web support, multimedia • Develop Model Documentation Feature • Enhanced integration with MATLAB / SIMULINK / LABVIEW / Excel….all are ActiveX Compatible • Integrated design & analysis environment • Develop Additional Environments MoSART-FAME … development of Facility see: http://www.eas.asu.edu/~aar/research/mosart/Presentations/

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