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--- lego_rip_prog_simulink [2016/04/18 00:18] – joaomatos
+++ lego_rip_prog_simulink [2016/04/18 00:31] – joaomatos
@@ Line 44: / Line 44: @@
   * **Input Calculation Logic:**Now that we have our “[x]” matrix with the states of our system , we can calculate the motor input as [K]*[u] , where [K] is our optimal gain matrix from LQR (Can be calculated using Matlab). We just need to do a matrix multiplication and its done.
+**1)Drag the following blocks to the work area: **  1x Mux / 1x  Gain / 1x Output(out1).
+**2)Double click on the following blocks to modify its parameters:**
+  * **Mux**:Change the ports number to 4
+  * **Gain**: Change the gain value to the name of your Optimal Gain matrix stored on your workspace, and the multiplication to matrix.
+  * **Output**: Change the name to power input.
+**3) Connections:**Connect the blocks as shown in the picture. After connecting, select all the blocks and create a subsystem.
+{{::voltagesim.jpg?direct|}}
+**4)Organizing:** Change the name of your subsystem and the name of input and output to representative names , as shown in the picture:
+{{::voltage_calculations.jpg?direct|}}
+----
+**Part III) Sending the input to the motor **
+  * **Motor Input Logic:**Now that we have our input calculated, we just need to send it to the motor. As the Lego motors only takes -100 to +100 values, we can use a saturation block to limit the input. For the convenience, we can use a switch block to set a time to start our model (this way we can safely deploy the model to the brick, lift the pendulum to the top position and then the system start balancing).
+**1) Drag the following blocks to the work area:** 1x Switch / 2x Clock / 1x Constant / 1x Saturation /1x Motor/1x LCD
+**2)Double click on the following blocks to modify its parameters:**
+  * **Constant**: Set the Value to 0.
+  * **Motor**:Change the port to A and the stop action to brake.
+  * **Switch:**set the conditional to u2 >= Threshold and Threshold as the time that you want to your system to start (entering 5, after 5 seconds of the program start, it will start balancing).
+  * **Saturation**:change the values to +100, -100.
+  * **LCD:**Change the label to "time" and the line to 1.
+**3) Connections:**Connect the blocks as shown in the picture. No need to create a subsystem.
+**4) Organizing:**You can add a Clock block and connect to a LCD block to see on the screen the running time.
+{{::finalripsim.jpg?direct|}}