|
Issue
110, September 1999
Internet
Control
by
Jacob Apkarian
Start
• Model Derivation
• Linearization • Control-System
Design • Simulation
•
Coding •
Configurations•
Implementation •
Tuning and Results •
Ready for Takeoff •
Software
and Sources •
Equations PDF
IMPLEMENTATION
To run the controller
in real time, simply replace the simulation block in the
simulation with the block in Figure 5. The difference
between the simulation block in Figure 4 and the actual
system block illustrated in Figure 5 is that the voltages
coming back from the controller are connected to two analog
output blocks.
Figure
5—In
this actual-system inputs and outputs subsystem,
the data-acquisition blocks represent measurements
from encoders and outputs to D/A channels.
|
The analog output blocks
output the desired voltage to the MultiQ analog output
channels 0 and 1. Furthermore, the three variables are
not simulated. They are measured directly using the MultiQ
Encoder input blocks.
Next, you generate C code
from the diagram and compile the diagram using Realtime
Workshop and the Visual C++ compiler. This step generates
a library file that can be downloaded into the client.
|
