Differences

This shows you the differences between two versions of the page.

--- lego_rip_simulation [2017/02/27 10:01] – created joaomatos
+++ lego_rip_simulation [2017/02/27 10:39] (current) – joaomatos
@@ Line 1: / Line 1: @@
-,
+==== Simulating the RIP project using CAD model and Simulink ====
+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.
+----
+==== How to export a SolidWorks Lego assembly into Simulink ====
+[[lego_rip_simulation_cad|How to export your SolidWorks model into Simulink]]
+----
+==== 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}}
+**Also you can try new ways to control the balance , like using fuzzy logic controllers:**
+{{youtube>B9Iyk7TM0Vs?medium}}