Ostfalia大学学生使用Simulink和Raspberry 金宝appPI硬件进行快速控制原型

The course lab assignments culminate in the design of a control system for a loading bridge like those used to move shipping containers onto a ship or aircraft. The controller must minimize the oscillation of a container—modeled as an inverted pendulum—as it is moved along on a cart driven by a DC motor.

博士。Meyer需要一个经济的原型制作系统，用于该介绍性控制实验室。该系统需要为该项目拥有足够的计算能力，并且可以轻松学习学习和使用。

van der Kamp使用了Sim金宝appulink和Raspberry Pi的Si金宝appmulink支持包，开发了一种快速控制的原型系统，使学生能够在Raspberry PI硬件上进行测试和改进他们的控制设计。

The flexible support package system allowed van der Kamp to quickly add analog-to-digital and digital-to-analog interface boards to communicate with the DC motor and the inverted pendulum sensors, including encoders that measure the position of the cart and the pendulum. He wrote custom drivers for these boards and packaged them as C MEX S-functions for use in Simulink models.

After downloading and installing the Simulink Support Package for Raspberry Pi, van der Kamp verified the setup by testing it with a Simulink controller model for the loading bridge. The Raspberry Pi–based rapid control prototyping was used in the course the following semester.

在课程中注册的学生已经熟悉Matlab和Simulink。金宝appOstfalia大学已获得校园范围许可证，为学生提供校园广泛的Matlab和Simulink软件，并且该工具广泛集成到电气工程课程中。金宝app

Working in Simulink, students developed a plant model of the loading bridge based on differential equations.

They then developed a state controller model and ran closed-loop simulations in Simulink to check the stability of their designs. They incorporated the C MEX S-function blocks for the analog interface drivers into this model to enable communication with the plant.

使用Simu金宝applink外部模式，它们在Raspberry PI硬件上运行了它们的控制器模型，步长大约一毫秒。在此模式下，它们可以在模型运行时实时检查和可视化传感器信号并调整控制器参数值。

在载入桥模型上测试控制器后，学生将从传感器捕获的数据捕获的数据和Matlab中的绘图进行实验室报告。

Ostfalia plans to expand the use of Simulink with the Raspberry Pi rapid control prototyping system to other classes, including one in which the students will use the system to develop controllers for a magnetic suspension.

• 实验室设置成本降低了数千欧元。“The controller designs for the loading bridge project are not especially complex and, as a result, do not need all the processing power and capabilities of commercial hardware,” says van der Kamp. “Simulink and Simulink Support Package for Raspberry Pi enabled us to create an alternative prototyping lab setup for this project that costs thousands of euros less.”
• 启用交互式控制器调整和可视化。“通过Sim金宝appulink外部模式，学生可以观看他们的控制器的输入和输出数据，因为它在Raspberry PI上运行并在飞行时调整控制器参数，”van der Kamp Notes。“之前不可能的相互作用水平是不可能的。”
• 学生释放到实验室外面完成工作。“通过校园范围的许可证，我们的学生可以使用Matlab，而不是在实验室中使用，而是在家里或校园的任何地方使用自己的笔记本电脑，”Van d金宝apper Kamp说。“这种灵活性会使他们对完成课程项目的动力。”