lego_rip_simulation
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lego_rip_simulation [2017/02/27 10:34] – joaomatos | lego_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: | ||
+ | {{:: | ||
+ | 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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+ | ==== Videos | ||
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+ | **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.** | ||
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+ | **You can test if you did the LQR calculation right , simulating only the pendulum balance:** | ||
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+ | **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:** | ||
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+ | **Also you can try new ways to control the balance , like using fuzzy logic controllers: | ||
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lego_rip_simulation.txt · Last modified: 2017/02/27 10:39 by joaomatos