Υπολογιστικά πειράματα με το...
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1 © 2012 The MathWorks, Inc. Υπολογιστικά πειράματα με το MATLAB Σύνδεση με Arduino & Raspberry Pi Ζαχαρίας Γκέτσης Μηχανικός Εφαρμογών
Transcript of Υπολογιστικά πειράματα με το...
1© 2012 The MathWorks, Inc.
Υπολογιστικά πειράματα με το MATLAB
Σύνδεση με Arduino & Raspberry Pi
Ζαχαρίας Γκέτσης
Μηχανικός Εφαρμογών
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Project-Based Learning
Motivating Project-Based Learning: Sustaining the Doing, Supporting the Learning, Educational Psychologist Volume 26, Issue 3-4, 1991
Project-based learning is a comprehensive approach to classroom
teaching and learning that is designed to engage students in
investigation of authentic problems.
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Physical
Interaction
Simulation
Two Avenues for Project-Based Learning
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Simulation
Algorithm
Device
World
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The leading environment for
technical computing
GUI-based block diagram
environment on top of MATLAB for
modeling, designing and solving
dynamic systems
Applications:Control systems
Electrical systems
Mechanical systems
Hydraulic systems
Signal processing
Video and image processing
Event-based systems
Any dynamic system
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Using MATLAB in Courses
Typical foundation courses:Calculus, linear algebra
Numerical mathematics
Probability and statistics
Optimization
Physics
Typical application courses:Signals, systems, and control
Partial differential equations
Financial engineering
Mechanical engineering
Image processing
For more books, visit www.mathworks.com/books
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1 DOF mass-spring-damper system
Problem: Model a 1 DOF mass-spring-
damper system within the Simulink
environment from first principles and
using physical modeling tools.
Model:
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Derive the equations of motions of the system
Use Newton’s second law to derive EOM
Take Laplace Transform to get transfer function
xbkxtFm
x
xbkxtFxm
1
kbsmssF
sX
sXbssXksFsXms
2
2
1
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Model the mass-spring-damper system
Using: First principles (EOM)
Transfer function
Physical models (mass, spring, damper)
Electrical equivalent of the system
(capacitor, resistor, power source)
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Mechatronic Design and Simulation
Library of physical elements
Mechanical, hydraulic, electrical…
Tools for control designMechanical Hydraulic Electrical
Thermal Pneumatic Magnetic
N S
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DC Motor Model
Problem: Model a DC motor in a
reusable way within the Simulink
environment
Solution: Use physical components to
model the electromechanical system
Model:
V+
V-
Shaft
Housing
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Simulation Benefits
Inexpensive
Accessible
“What-If” Scenarios
Robust
“See” the Algorithms
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Physical Interaction
Algorithm
Device
World
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MATLAB/Simulink Hardware Support for
Project-Based Learning
With just a click,
run your model on hardware
Selected Simulink Supported Target
Hardware:-Arduino® Uno ($30), Mega 2560 ($65)
-LEGO® MINDSTORMS® NXT ($280)
-Raspberry Pi Model B ($35)
-BeagleBoard-xM ($150)
-PandaBoard ($180)
-Gumstix® Overo hardware ($180)
Also Available in Student Version
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Arduino
Arduino is an open-source microcontroller board, with
an associated development environment.
– Analog and Digital Input-Output directly from MATLAB code
– Motor control and System Design from command line and
Simulink models
– Large set of sensors and actuators
– Ideal for low budget projects
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Same board… different approaches
Write code and
communicate with the
board
Tethered Approach
Develop a model and
program the board
Embedded Approach
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DC Motor Control using Arduino Uno
Host Computer Arduino Uno DC Motor
Serial communication Motor driver
voltage
request
angle
voltage
angle
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Raspberry Pi
What is it? – Credit-card sized, low-cost, single-board computer with audio and video input/output,
designed for teaching
Who created it?
Raspberry Pi Foundation: http://www.raspberrypi.org/
What are the specs?– Broadcom® system-on-a-chip which includes an ARM®11
processor running at 700 MHz with 512 MB RAM
– Peripheral connectivity for stereo audio and digital video
(1080p) and supports USB and Ethernet.
– It measures 85.6mm x 56mm x 21mm, with a little overlap
for the SD card and connectors. It weighs 45g.
Image from: http://www.raspberrypi.org/faqs
“Overall real world performance is something like a 300MHz Pentium 2”
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Hardware Setup
What hardware do I need?– Raspberry Pi Model B
– Power cable (Micro USB-B needed by Raspberry
Pi)
Multiple options; I use USB-A to Micro USB-B cable for
power
– Ethernet cable
– SD Card
MicroSD card that sockets into SD shell will also work
– Open SD Card port (on host computer)
Need port to write firmware on SD Card / Micro SD card
Can use native port or USB-based device
– Open Ethernet port (on host computer)
Option: Can use USB-Ethernet dongle
– Case (nice to have)
– USB Webcam (UVC compatible)
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Raspberry Pi (Model B) Support from Simulink
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Physical Interaction Benefits
Accessible
High Fidelity
Hands-On Learning
Unexpected Scenarios
Engaging
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Physical
Interaction
Simulation
MATLAB/Simulink Solutions for Project-Based
Learning
Project-Based Learning – Learning by Doing
MATLAB and Simulink:
-Both simulation and hardware solutions
-Target affordable hardware platforms
-Industry-standard workflow for engineering education
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