TY - JOUR
T1 - Description of a modeling, simulation, animation, and real-time control (MoSART) environment for a class of electromechanical systems
AU - Rodriguez, Armando
AU - Metzger, Richard P.
AU - Cifdaloz, Oguzhan
AU - Dhirasakdanon, Thanate
N1 - Funding Information:
Manuscript received June 25, 2003; revised September 18, 2004. This research was supported in part by a 1998 White House Presidential Excellence Award from President Clinton; the National Science Foundation (NSF) under Grant 0231440 and Grant 9851422; the Western Alliance to Expand Student Opportunities (WAESO); the Center for Research on Education in Science, Mathematics, Engineering and Technology (CRESMET); the Boeing A.D. Welliver Faculty Fellowship; Intel; and Microsoft.
PY - 2005/8
Y1 - 2005/8
N2 - This paper describes an Interactive Modeling, Simulation, Animation, and Real-Time Control (MoSART) Environment that is useful for controls education and research. The described MoSART environmenl is shown to be useful for analyzing, designing, visualizing, and evaluating control systems for a class of "cart-pendulum" electromechanical systems. The environment - referred to as Cart-Pendulum Control3D-Lab - is based on Microsoft Windows, Visual C++, Direct-3D, and MATLAB/ Simulink. The environment can be used as a stand-alone application or together with MATLAB. Simulink, and toolboxes. When used as a stand-alone application, a friendly graphical user interface permits easy interaction. Users may select (via pull-down menus) systems, dynamical models, control laws, exogenous signals (including joystick inputs) and associated parameters, initial conditions, integration routines, and associated parameters. When used with MATLAB, Simulink, and toolboxes, the previously mentioned nominal features are significantly enhanced. In either case, the interface permits users to access the following (via pull-down menus): animation models, mesh properties, texture and lighting models, system-specifc visual indicators, graphics to be displayed, animation/data display/storage rates, simulation control buttons, and extensive documentation. When Simulink is present, users can exploit extensive visualization and three-dimeusional (3-D) animation features through provided and/or user-generated Simulink diagrams. This capability makes the developed environment very extensible with respect to mathematical models and control laws. In addition, users may readily export simulation data to MATLAB/toolboxes for postprocessing and further analysis. The environment also contains a suite of well-documented (easy-to-modify) models and control laws that are implemented within the provided Simulink block diagrams. Provided (special) blocks enable animation, joystick inputs, and (near) real-time simulation and animation (when possible). (Near real-time - or faster-than-real-time - simulation and animation are possible whenever the mathematical and animation models are sufficiently simple and data manipulation requirements, e.g. storage and display, are sufficiently mild. For the systems considered, (near) real-time simulation and animation is readily achievable.) Associated with each block diagram are system-specific, menu-accessed m-files that permit detailed analysis and design. A hardware module permits real-time control of actual hardware experiments. The developed environment is shown to be a valuable tool for enhancing both controls education in a variety of classes as well as research. Examples are presented to illustrate the utility of the environment.
AB - This paper describes an Interactive Modeling, Simulation, Animation, and Real-Time Control (MoSART) Environment that is useful for controls education and research. The described MoSART environmenl is shown to be useful for analyzing, designing, visualizing, and evaluating control systems for a class of "cart-pendulum" electromechanical systems. The environment - referred to as Cart-Pendulum Control3D-Lab - is based on Microsoft Windows, Visual C++, Direct-3D, and MATLAB/ Simulink. The environment can be used as a stand-alone application or together with MATLAB. Simulink, and toolboxes. When used as a stand-alone application, a friendly graphical user interface permits easy interaction. Users may select (via pull-down menus) systems, dynamical models, control laws, exogenous signals (including joystick inputs) and associated parameters, initial conditions, integration routines, and associated parameters. When used with MATLAB, Simulink, and toolboxes, the previously mentioned nominal features are significantly enhanced. In either case, the interface permits users to access the following (via pull-down menus): animation models, mesh properties, texture and lighting models, system-specifc visual indicators, graphics to be displayed, animation/data display/storage rates, simulation control buttons, and extensive documentation. When Simulink is present, users can exploit extensive visualization and three-dimeusional (3-D) animation features through provided and/or user-generated Simulink diagrams. This capability makes the developed environment very extensible with respect to mathematical models and control laws. In addition, users may readily export simulation data to MATLAB/toolboxes for postprocessing and further analysis. The environment also contains a suite of well-documented (easy-to-modify) models and control laws that are implemented within the provided Simulink block diagrams. Provided (special) blocks enable animation, joystick inputs, and (near) real-time simulation and animation (when possible). (Near real-time - or faster-than-real-time - simulation and animation are possible whenever the mathematical and animation models are sufficiently simple and data manipulation requirements, e.g. storage and display, are sufficiently mild. For the systems considered, (near) real-time simulation and animation is readily achievable.) Associated with each block diagram are system-specific, menu-accessed m-files that permit detailed analysis and design. A hardware module permits real-time control of actual hardware experiments. The developed environment is shown to be a valuable tool for enhancing both controls education in a variety of classes as well as research. Examples are presented to illustrate the utility of the environment.
KW - Animation control
KW - Controls education
KW - Design
KW - Direct-3D
KW - Electromechanical systems
KW - Modeling
KW - Modeling, Simulation, Animation, and Real-Time Control (MoSART)
KW - Pendulum
KW - Simulation
KW - Visualization
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U2 - 10.1109/TE.2004.842915
DO - 10.1109/TE.2004.842915
M3 - Article
AN - SCOPUS:26444508909
SN - 0018-9359
VL - 48
SP - 359
EP - 374
JO - IEEE Transactions on Education
JF - IEEE Transactions on Education
IS - 3
ER -