Ostfalia University Students Use Simulink and Raspberry Pi Hardware for Rapid Control Prototyping

课程实验室分配最终在装载桥的控制系统的设计中达到顶峰，例如用于将运输容器移至船上或飞机上的装载桥。控制器必须最大程度地减少容器的振荡（被模型为倒置的摆），因为它在由DC电动机驱动的推车上移动。

Dr.-Ing. Meyer needed an economical prototyping system for this introductory controls lab. The system needed to have enough computing power for the project and be easy for students to learn and use.

Van der Kamp used Simulink and the Simulink Support Package for Raspberry Pi to develop a rapid control prototyping system that enables students to test and refine their control designs on Raspberry Pi hardware.

灵活的支撑包系统允许Van金宝app der Kamp迅速添加类似于数字的数字和数字到Analog接口板，与DC电机和倒置的摆传感器进行通信，包括测量手推车位置和摆锤位置的编码器。他为这些董事会编写了自定义驱动程序，并将其包装为C MEX S功能，以用于Simulink型号。金宝app

在下载和安装Raspberry Pi的Simulink支持软件包后，Van金宝app der金宝app Kamp通过使用用于加载桥的Simulink控制器模型对其进行了测试，从而验证了设置。下学期使用了基于覆盆子PI的快速控制原型。

Students enrolled in the course were already familiar with MATLAB and Simulink. Ostfalia University has acquired a Campus-Wide License that provides students with campus-wide access to MATLAB and Simulink software, and the tools are widely integrated into the electrical engineering curriculum.

在Simulink工作金宝app，学生开发了一种基于微分方程的装载桥的植物模型。

然后，他们开发了一个状态控制器模型，并在Simulink中运行了闭环模拟，以检查其设计的稳定性。金宝app他们将模拟界面驱动程序的C MEX S功能块纳入了该模型，以使其与植物进行通信。

Using Simulink external mode, they ran their controller model on the Raspberry Pi hardware with a step size of about one millisecond. In this mode, they could inspect and visualize sensor signals in real time and tune controller parameter values while the model was running.

After testing the controller on the loading bridge model, the students postprocessed data captured from the sensors and generated plots in MATLAB for their lab reports.

OSTFALIA计划将Simulink与Raspberry Pi快速控制金宝app原型制度扩展到其他类别，其中包括学生将使用该系统开发用于磁性悬架的控制器的类别。

• 实验室设置成本降低了数千欧元。Van der Kamp说：“装载桥项目的控制器设计并不是特别复杂，因此，不需要商业硬件的所有处理能力和功能。”“金宝app Raspberry Pi的Sim金宝appulink和Simulink支持软件包使我们能够为该项目创建一个替代的原型实验室设置，该设置的价格降低了数千欧元。”
• Interactive controller tuning and visualization enabled.“With Simulink external mode, the students can watch the input and output data of their controller live as it runs on the Raspberry Pi and adjust controller parameters on the fly,” notes van der Kamp. “That level of interactivity was impossible before.”
• Students freed to complete work outside the lab.“With the Campus-Wide License, our students can work with MATLAB and Simulink not only in the lab, but at home or anywhere on campus using their own laptops,” says van der Kamp. “This flexibility increases their motivation to complete course projects.”