POSTED ON November 22, 2022 5:36 am
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Control Design And Simulation Module Labview 2015 22
the system can handle different robot models with different number of degrees of freedom. the software provides a function to load several robot models. the user can set the driving mode (continuous or discrete) for each model. the driving mode affects the parametric values of the pid controller. the robot model can be loaded by selecting the model from a list box. the simulation program was written in the c++ language. the robot model is composed of several blocks. the same block can be used for different driving modes. the blocks are connected to each other using the labview interface designer. a block is represented by a class containing the variables that are assigned by the user. the variables are associated with blocks and can be changed using the sliders. the parameters of the blocks are also given by the user.
the presented model is a first attempt to model the drivetrain of an omnidirectional mobile robot. the general structure of the model is presented in figure7. the main blocks of the model are a wheel and a motor block. two blocks, and, are also implemented. the model implementation can be found in labview.
the motor block consists of two motor blocks (figures9 and10), which drive the wheels, thus providing a force that counteracts the wheel torque. the control voltage is the control voltage for each motor; hence, the motor block outputs the coordinate velocities of the robot ().
in order to simulate the idealised drivetrain, the blocks were connected using data acquisition blocks and control blocks. the control blocks are represented by dashed lines in figure7. in the following, the simulated robot is analysed. in order to represent the robot, a simulation software was developed by the authors for numerical evaluation of the model. a detailed description of the software can be found in the appendix.
the complexity of the model, which is the robot model, affects the system performance. the time required for the simulation (i.e. the runtime of the simulation) is dependent on the complexity of the robot model. thus, the user can limit the runtime of the simulation by reducing the complexity of the model. however, the user should be aware that reducing the complexity of the model may degrade the simulation results. for example, the simulation may be accurate for a whole class of models, but if the user changes the model from one class to another, the simulation may not be accurate. the user may specify a model and request the simulation to be performed with the selected model. then, the user can modify the model and request the simulation to be performed with the modified model. however, the user may want to simulate many different models and the user may want to run the simulation many times for each of the models.
the movement of the robot is accomplished by the drivetrain dynamics and the robot kinematics. the drivetrain dynamics is a mathematical model of the drivetrain of the robot. its parameters can be modified in the model, so the robot can be controlled. in this paper, the drivetrain dynamics is a differential equation with first order zero-order hold model. the model is also designed to be a state space model, which makes it possible to handle step response, impulse response, and frequency response simulation.
the visualization part is in the form of a graphic user interface (gui). the gui offers a lot of functions to the user. one can change the values of the parameters by dragging and dropping them into the graphical fields. the dragging and dropping is supported by labview 2015, when the user selects a block and moves the mouse over the block. the block selection also depends on the selected block type (for example, for a constant block, the selected block is the block that has a same value as the slider). dragging and dropping parameters is done by clicking on the slider. dragging and dropping parameters, and changing their values, is done in the continuous simulation mode, so the simulation cannot be stopped. if the simulation is stopped, the dragging and dropping is not supported.