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MOBY DIC TOOLBOX. MOBY-DIC WORKSHOP Noordwijkerhout , 23-08-2012. DESCRIPTION. Main features :. MATLAB / SIMULINK. Object oriented programming. Graphical User Interface. HTML Documentation. GPL v2 license (open source). http://ncas.dibe.unige.it/software/MOBY-DIC_Toolbox/.

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Presentation Transcript
slide1

MOBY DIC

TOOLBOX

MOBY-DIC WORKSHOP

Noordwijkerhout, 23-08-2012

slide2

DESCRIPTION

Mainfeatures:

MATLAB / SIMULINK

Objectorientedprogramming

GraphicalUser Interface

HTML Documentation

GPL v2 license (open source)

http://ncas.dibe.unige.it/software/MOBY-DIC_Toolbox/

Requirements:

MATLAB R2008a or newer

C / C++ compiler

Hybrid Toolbox

Multi Parametric Toolbox (MPT)

Yalmip

MATLAB R2011a and Xilinx System Generator (onlyfor HDL simulation)

slide3

CONTROL/CIRCUIT CO-DESIGN

PLANT

EMBEDDED

CONTROLLER

Fast

Small

Low-power

Low-cost

slide4

GOAL OF THE TOOLBOX (1)

Control/circuit co-design

LINEAR SYSTEM

CONSTRAINTS

CONTROL SPECS.

FPGA/ASIC IMPLEMENTATION

CLOSED-LOOP SIMULATION

CIRCUIT SPECS.

DIGITAL CIRCUIT

slide5

CONTROL DESIGN

generateMPCfunction

CallsHybrid Toolbox or Multi Parametric Toolboxtocomputeexplicit MPC controllaw

@linearSystemobject

LINEAR SYSTEM

CONSTRAINTS

CONTROL SPECS.

GENERATE MPC

@constraintsobject

@pwagobject

Piecewise Affine functiondefinedovergenericpolytopicpartition

PWAG

slide6

CIRCUIT DESIGN

getCircuitPerformances

Gets information aboutcircuitperformances in advance.

PWAG

getCircuitPerformances

synthesizemethod

Generates VHDL filesfor the circuitimplementationofexact MPC controller.

More solutions are available, the choiceisperformedbased on circuitspecifications

Latency, multipliers, memory occup.

synthesize

CIRCUIT SPECS.

VHDL files

slide7

CONTROL APPROXIMATION

pwasApproximation

Approximates the PWAG controller with a Piece-Wise Affine functiondefinedover a simplicialpartition, byimposingconstraints.

LINEAR SYSTEM

CONSTRAINTS

PWAG

APPROXIMATE

pwarApproximation

Approximates the PWAG controller with a Piece-Wise Affine functiondefinedover a rectangularpartition, byimposingconstraints.

PWAS / PWAR

slide8

APPROXIMATION BENEFITS

Regularityof the partition

Fast circuitcomputation

Stability can beproven (a posteriori)

PWAG/PWAS/

PWAR

STABILITY TEST

slide9

CIRCUIT DESIGN

getCircuitPerformances

Gets information aboutcircuitperformances in advance, alsobeforegenerating the approximatecontrolfunctionitself.

PWAS/PWAR

getCircuitPerformances

Latency, multipliers, memory occup.

synthesizemethod

Generates VHDL filesfor the circuitimplementationofapproximate MPC controller.

synthesize

CIRCUIT SPECS.

VHDL files

slide10

CLOSED-LOOP SIMULATION

generateSimulinkModel

Generates a Simulinkmodelof the closed-loop system, in which the controliscomputedbysimulating the VHDL files (delays and fixedpointrepresentationeffects are takeninto account)

Requires Xilinx System Generator

PLANT

PWAG / PWAS / PWAR

VHDL files

GENERATE SIMULINK MODEL

slide11

VIRTUAL SENSOR DESIGN

Unmeasurable output z

PLANT

Inputs u

Measurableoutputs y

VIRTUAL SENSOR

Estimated

unmeasurable output z

Fast

Small

Low-power

Low-cost

slide13

GOAL OF THE TOOLBOX (2)

Virtual sensors design

DATASET

SENSOR SPECS.

FPGA/ASIC IMPLEMENTATION

VALIDATION

CIRCUIT SPECS.

DIGITAL CIRCUIT

slide14

VIRTUAL SENSOR DESIGN

identify

Identify a PWAS virtualsensorstartingfrommeasuresof u, y and z

TRAINING DATASET

SENSOR SPECS.

IDENTIFY

The estimationof z isperformedbycomputing the valueof a PWAS functionof u, y and the estimated z at previoustimeinstants

VIRTUAL SENSOR

slide15

VIRTUAL SENSOR VALIDATION

validate

Validates the virtualsensor on a test set toseeif the estimationis accurate

VIRTUAL SENSOR

TEST

DATASET

VALIDATE

slide16

VIRTUAL SENSOR CIRCUIT

synthesizemethod

Generates VHDL filesfor the circuitimplementationof PWAS virtualsensor.

More solutions are available, the choiceisperformedbased on circuitspecifications

VIRTUAL SENSOR

CIRCUIT SPECS.

synthesize

VHDL files