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lego_rip_simulation [2017/02/27 10:34] joaomatoslego_rip_simulation [2017/02/27 10:39] (current) joaomatos
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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.  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. 
  
 +You can find a lot of useful things for this project under this kit: 
 +{{::rip_kit.rar| Kit for the RIP project}}
  
 +There is a **Matlab script** to run the LQR calculation and find the gains ( the derivation of the model is shown in the system modelling section). There is a folder including the **complete building** of the system . There is another folder that you will use to run the Simulink programs named **Only Sensors building**. There you will find Simulink programs to simulate only the balance , the swing-up and the balance , and a fuzzy logic controller.
  
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 [[lego_rip_simulation_cad|How to export your SolidWorks model into Simulink]] [[lego_rip_simulation_cad|How to export your SolidWorks model into Simulink]]
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 +----
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 +==== Videos  ====
 +
 +**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.**
 +
 +{{youtube>smo7Lrn5lBA?medium}}
 +
 +**You can test if you did the LQR calculation right , simulating only the pendulum balance:**
 +
 +{{youtube>zrT3VJjqWLY?medium}}
 +
 +**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:**
 +
 +{{youtube>J-HCzT4iq_I?medium}}
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 +**Also you can try new ways to control the balance , like using fuzzy logic controllers:**
 +
 +{{youtube>B9Iyk7TM0Vs?medium}}
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lego_rip_simulation.txt · Last modified: 2017/02/27 10:39 by joaomatos