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edit hil_speed_control_example.mHIL Speed Control Example
This example demonstrates how to do proportional-integral (PI) speed control using the QUARC HIL command set. It is designed to control Quanser's QUBE-SERVO2-USB experiment. The speed of the motor is read from other channel 14000. Analog output channel 0 is used to drive the motor.
System Requirements
This example requires hardware supported by the HIL command set, such as the QUBE-SERVO2-USB device. Furthermore, the card must support task-based reading of a tachometer channel and immediate writes to an analog output channel.
Configuring the example
To set up the example for a different data acquisition card, edit the M-file and change
the board_type
to the type of board being used. If you have more than
one of these data acquisition cards in your machine, then also change the board_identifier
variable to refer to desire board. Board identifiers are typically equal to the
board number, with the first board being board '0', the next board being board '1',
etc.
Running the example
Simply type the name of the example, hil_speed_control_example
,
at the Matlab command prompt to run the example. It will run for 10 seconds
and then plot the results.
Do NOT press Ctrl+C to stop the script or the example will not stop the motor and
will not shut down the hardware correctly!
Use the
|
The example uses proportional-integral (PI) control to drive a QUBE-SERVO2-USB motor's velocity with a square wave that varies between 22.5 and 27.5 rad/s. The controller is running at 500 Hz.
The controller will run for 10 seconds and then stop. The example will zero the analog outputs to stop the motor. It then plots the command signal versus the measured motor speed, as shown below.
Building code from the example
To build real-time code from the example for the QUARC Win64 target, execute the following command in the MATLAB Command Window:
qc_build_script('hil_speed_control_example', 'win64');
The command may also be entered in this form:
qc_build_script('hil_speed_control_example.rt-win64');
or
qc_build_script hil_speed_control_example.rt-win64
The qc_build_script
command generates a build script called 'hil_speed_control_example_build.m'
and a main C file called 'hil_speed_control_example_main.c'. It then invokes the build script to
generate C code for the MATLAB script and to compile and link it into a QUARC executable called 'hil_speed_control_example.rt-win64'.
Running qc_build_script
again will not overwrite the generated files, so they may be modified and
the changes will be incorporated when qc_build_script
is run again.
Running the generated executable
Before running the generated executable, open a QUARC Console so that the output of the executable may be seen. The QUARC Console need only be opened once. Use the command:
qc_script_console('hil_speed_control_example.rt-win64', 'all');
The QUARC Console shows the standard output from any QUARC executable that is run on the target (since the 'all' option was specified).
To run the generated executable, type the following command in the MATLAB Command Window:
qc_run_script('hil_speed_control_example.rt-win64');
or equivalently:
qc_run_script hil_speed_control_example.rt-win64
The output from the executable will be seen in the QUARC Console:
Building code for a different target
To build real-time code from the example for the QUARC Linux Pi 3 target, execute the following command in the MATLAB Command Window:
qc_build_script('hil_speed_control_example', 'linux_pi_3', 'update');
The command may also be entered in this form:
qc_build_script('hil_speed_control_example.rt-linux_pi_3', 'update');
The 'update' option causes the qc_build_script
command to update the
target type in the build script without rewriting the rest of the script. Hence, even if the script
has been modified, the changes will be preserved. Only the target type will be changed. The command
will then generate the C code for the MATLAB script and compile and link it for the new target type
to produce the executable 'hil_speed_control_example.rt-linux_pi_3'.
Running the generated executable on the new target
Before running the generated executable, open a QUARC Console so that the output of the executable may be seen. The QUARC Console for this new target need only be opened once. Use the command:
qc_script_console('hil_speed_control_example.rt-linux_pi_3', 'all');
The QUARC Console shows the standard output from any QUARC executable that is run on the target (since the 'all' option was specified). Note that even though the QUARC Console is running on the host PC, it will be showing the standard output from QUARC executables run on the QUARC Linux Pi 3 target!
To run the generated executable, type the following command in the MATLAB Command Window:
qc_run_script('hil_speed_control_example.rt-linux_pi_3');
The output from the executable will be seen in the QUARC Console.
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