Načrtovanje algoritma za vodenje v realnem času na platformi NI myRIO

ŠTRBENC, PETER (author), Karer, Gorazd (mentor)

Naloga obsega spoznavanje uporabniškega vidika platforme NI myRIO. Cilj naloge je praktični preizkus uporabnosti sistema, ki omogoča deterministično izvajanje algoritmov v realnem času, pri načrtovanju in izvedbi algoritmov za vodenje na invertiranem nihalu. Testiranje in vodenje potekata na napravi Amira PA600, ki se nahaja na Fakulteti za elektrotehniko, v Laboratoriju za avtomatiko in kibernetiko. Rešitev se na koncu primerja s sistemom vodenja, ki deluje na osebnem računalniku v okolju Matlab-Simulink, pri čemer je poudarek na praktičnih vidikih razvoja in uporabe končne rešitve. Najprej se je potrebno spoznati z delovanjem laboratorijske opreme ter njenimi funkcijami. Sledila je analiza invertiranega nihala in zapis matematičnega modela z enačbami, ki čimbolje opišejo njegovo delovanje. Da bi sistem lahko vodili v realnem času, je treba vstaviti primeren regulator. V tej nalogi se uporablja linearni kvadratični regulator, saj je njegova uporaba zelo preprosta. Na koncu so podani rezultati, ki prikazujejo 20-odstotno uspešnost programskega okolja Matlab-Simulink medtem ko je bila uspešnost platforme NI myRIO 100-odstotna. Podanih je še nekaj drugih testov, ki dokazujejo, da je za vodenje invertiranega nihala v realnem času bistveno boljša platforma NI myRIO.

• Language: Slovenian
• Keywords: invertirano nihalo, myRIO, Matlab-Simulink, LabVIEW
• Work type: Bachelor thesis/paper
• Organization: FE - Faculty of Electrical Engineering
• Year: 2019
• PID: 20.500.12556/RUL-108599
• Publication date in RUL: 09.07.2019

Secondary language

• Language: English
• Title: Development of a real-time control algorithm on NI myRIO platform

Abstract

The thesis deals with the user's perspective of the NI myRIO platform. The objective is to test the practical application of the system, which enables the implementation of algorithms in real time, in the design and implementation of control algorithms for the inverted pendulum. Testing and control is carried out using the Amira PA600 laboratory plant, located at the Faculty of Electrical Engineering in the Laboratory of Control systems and Cybernetics. Finally, the solution is compared to a control system running on a personal computer in the Matlab-Simulink environment, with emphasis on the practical aspects of the development and use of the final solution. First of all, it is necessary to get to know the functioning of the laboratory equipment and its functions. The analysis of the inverted pendulum follows a mathematical model with equations that describe its operation as much as possible. In order to be able to run the system in real time, an appropriate controller had to be inserted. In this task a linear quadratic controller is used, since its use is very simple. Finally, results are presented showing 20-percent performance of the Matlab-Simulink software environment while the performance of the NI myRIO platform was 100-percent. A number of other tests have been conducted to prove that the NI myRIO platform is much better in real time for inverted pendulum control.

• Keywords: inverted pendulum, myRIO, Matlab-Simulink, LabVIEW