lego_rip_simulation_cad
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lego_rip_simulation_cad [2017/02/27 10:33] – joaomatos | lego_rip_simulation_cad [2017/02/27 11:41] (current) – joaomatos | ||
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- | ===== How to export your SolidWorks assembly into Simulink ===== | ||
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- | Follow this simple tutorial to learn how to export your Lego assemblies using SolidWorks to Simulink. Simulink is a powerfull tool to develop and test your controller before you go to the actual project and start coding. See bellow some videos showing some utilities of this integration: | ||
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- | **You can use SolidWorks to build a virtual model of your project and get important data as Center of Gravity, Inertia and mass of your assembly.** | ||
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- | **You can test if you did the LQR calculation right , simulating only the pendulum balance:** | ||
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- | **You can test your swing-up algorithms and test your switch controller to see if the integration of your swing-up controller and the balance controller will work:** | ||
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- | **Also you can try new ways to control the balance , like using fuzzy logic controllers: | ||
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===== Step by Step instructions ===== | ===== Step by Step instructions ===== | ||
- | You can get all the necessary .STL parts to build the RIP project on this file bellow. If you want the assembly already done, you can find inside the folder "only sensors building" | + | You can get all the necessary .STL parts to build the RIP project on this file bellow. If you want the assembly already done, you can find inside the folder "only sensors building" |
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**Under Actuation** ,you can enable/ | **Under Actuation** ,you can enable/ | ||
Under Sensing , is where you can enable the option to get the “real time” data from this joint . For our controlled version , we will enable position and velocity data. | Under Sensing , is where you can enable the option to get the “real time” data from this joint . For our controlled version , we will enable position and velocity data. | ||
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+ | **To get data from the sensing** , connect a simulink " | ||
With this briefly explanation you should be able to wire some blocks and make your control scheme and see if it works. I will provide my block diagram with the controller using PD provided by the LQR calculation. There is a lot of ways to construct your block diagram , use your creativity! | With this briefly explanation you should be able to wire some blocks and make your control scheme and see if it works. I will provide my block diagram with the controller using PD provided by the LQR calculation. There is a lot of ways to construct your block diagram , use your creativity! | ||
lego_rip_simulation_cad.1488220434.txt.gz · Last modified: 2017/02/27 10:33 by joaomatos