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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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slide1

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/

outline
Outline
  • Motivation
  • Description of Interactive MoSART Environments
  • Development of Environments
  • Utility of Environments
  • Summary and Future Directions
control system design

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
slide4
FAME
  • Flexible Autonomous Machines operating in an uncertain Environment
    • semiconductor processes and manufacturing
    • robotics and automation
    • advanced vehicles and transportations systems
state of the art
State of the Art
  • Working Model (Knowledge Revolution)
  • DADS/Plant (CADSI)

…generic, not optimized for specific systems

(both are industrial sponsors)

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

. . .New Enabling Technologies

new technologies
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
other new technologies
Other New Technologies
  • PC-based Networking
    • Windows NT
  • Distributed Computation
    • Distributed Component Object Module (DCOM)
contributions of work
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
slide10

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
interactive mosart environments under development
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
key environment features
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
sikorsky uh 60 blackhawk
Sikorsky UH-60 Blackhawk

Aerodynamic Derivatives Near Hover

vertical dynamics near hover
Vertical Dynamics Near Hover

Z / Blc

- Collective Control

Open loop poles:

Vertical Damping Mode

longitudinal dynamics near hover
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

longitudinal dynamics near hover1
Longitudinal Dynamics Near Hover

Transfer function:

Zero near origin

Open loop poles & zeros:

Performance-Pitch Tradeoff:

horizontal speed controller
Horizontal Speed Controller

Controller #1 (proportional only)

Controller #2

(Dynamical Feedback)

horizontal speed controller1
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

about the program
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.

interactive environment system modules
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

environment structure
Environment Structure

(PUI)

  • Program User Interface
  • Simulation Module
  • Graphical Animation Module
  • Communications Module
  • Help-Instruct Module

(SIM)

(GAM)

(COM)

(HIM)

program user interface
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
use of the pui
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
simulation module
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
simulation module extensibility
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)

graphical animation module
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)

animation module extensibility
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.
3d mesh libraries
3D Mesh Libraries
  • http://www.3dcafe.com
communication module
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
external commmunication example of simulation data flow
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)

slide34

A-LAB

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

SIMULINK

help instruct module
Help-Instruct Module

(HIM)

  • On-line Help
    • Instructions on using the environment
    • Program reference
  • HTML / PDF Documents
    • Model documentation/ references
    • Interactive tutorials
summary
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
future directions
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/