2. Development of Interactive Modeling, Simulation, Animation, and Real-Time Control (MoSART) Environments for Research and Education Multidisciplinary Initiative on Distance Learning (MIDL) Seminar Thursday, November 19 th 1998, Arizona State University Armando A. Rodriguez Chen-I Lim Richard P. Metzger Jr. http://www.eas.asu.edu/~aar/research/mosart/Presentations/

3. Outline Motivation Description of Interactive MoSART Environments Development of Environments Utility of Environments Summary and Future Directions

4. Control System Design r eu didi dodo K P n y Controller Plant Design K based on model P o s.t. nominal CLS exhibits: –Stability and Stability Robustness –Good Command Following –Good Disturbance Rejection –Good Noise Attenuation –Robust Performance

5. FAME Flexible Autonomous Machines operating in an uncertain Environment – semiconductor processes and manufacturing –robotics and automation –advanced vehicles and transportations systems

6. Working Model (Knowledge Revolution) DADS/Plant (CADSI) …generic, not optimized for specific systems (both are industrial sponsors) State of the Art

7. Motivation Advanced visualization tools are needed for system analysis and design. Research / education can be enhanced with interactive multimedia environments....New Enabling Technologies

8. New Technologies Affordable High Performance Computing Hi-fidelity Simulation Capability –Simulink / MATLAB, etc… –Visual C++ PC Animation Creation / Manipulation Technologies –3D Modeling Software (e.g. 3D Studio, RPM D3D toolbox, etc.) –Microsoft DirectX (provides: 3D-animation, sound, video, user-input, etc.) Object Oriented Programming (OOP) Framework –ActiveX / OLE

9. Other New Technologies PC-based Networking –Windows NT Distributed Computation –Distributed Component Object Module (DCOM)

10. Contributions of Work User friendly system-specific interactive MoSART control environments High performance: Windows / C++ Advanced visualization tools: Direct 3D Extensible: integration with MATLAB / Toolboxes A-Lab enables extensibility via SIMULINK

11. Distributed Systems and Controls Lecture / Laboratory / Research Facility 50 Networked PC-workstations Sponsors: –NSF, Intel, Microsoft, Boeing, Xilinx, SEM, Mathworks, ISI, CADSI, Knowledge Revolution, National Instruments (Under Development)

12. Interactive MoSART Environments Under Development Pendulums: –Fixed Base, Cart, Rotary Arm, Flexible, Seesaw-Cart, Ball and Beam PUMA 560 Robotic Manipulator: Single, Dual, Multiple. Helicopter: Single and Twin Lift High-Performance Aircraft Submarine Missile-Target Engagements Adaptive Learning Algorithms (“Evasive Monkey”) Launch Vehicle Satellite Spring-Mass-Dashpot Ball and Beam

13. Direct 3D Visualization Model - Fixed Base Pendulum

14. Direct 3D Visualization Model - Cart Base Pendulum

15. Key Environment Features Accelerated-time simulation Alter model/controller: –structure –parameters (on-the-fly) Advanced visualization: –real-time graphics –visual indicators/aids –3D animation models Direct user input via joystick, mouse, etc. Integration with MATLAB and Simulink

16. Aerodynamic Derivatives Near Hover Sikorsky UH-60 Blackhawk

17. - Collective Control Open loop poles: Vertical Dynamics Near Hover Vertical Damping Mode Z / B lc

18. Longitudinal Dynamics Near Hover B lc - Cyclic Control Unstable Backflapping Mode Open loop poles: …need AFCS to minimize pilot workload  010  0  =0M q M u  M Blc B lc x-g0X u xx Blc..... Horizontal Damping Mode X / B lc.  / B lc

19. Open loop poles & zeros: Zero near origin Transfer function: Longitudinal Dynamics Near Hover Performance-Pitch Tradeoff:

20. General System Diagram

21. Horizontal Speed Controller Controller #1 (proportional only) Controller #2 (Dynamical Feedback)

22. Horizontal Speed Controller Horizontal Speed Dynamics (s+1) 2 (2500) ( s + 50 ) 2 k (s+2.5) s. Desired speed Speed, x - + Cyclic control, B lc

23. About the Program System Requirements: Pentium PC running Windows 95/NT. 32 MB RAM. Direct-3D 3.0. Recommended: Pentium II 266 w/ MMX running Windows NT 4.0. 64 MB RAM. Direct-3D 3.0. Pentium PC Windows ’95/NT Visual C++/ MFC Direct-3D MATLAB Engine v5.0

24. Interactive Environment System Modules Communication Module (COM) Program User Interface (PUI) Simulation Module (SIM) Graphical Animation Module (GAM) Help/Instruct Module (HIM) Physical SystemSimulinkMATLABInternet Other Applications Interactive Environment Application ActiveX

25. Environment Structure Program User Interface Simulation Module Graphical Animation Module Communications Module Help-Instruct Module (PUI) (SIM) (GAM) (HIM) (COM)

26. Program User Interface User Friendly Windows Interface –Menus –Multiple windows –Program control toolbars Interactive System Diagrams –Block diagram representation of system –Point-and-click access (PUI)

27. Use of the PUI Edit system parameters on-the-fly Change reference commands: - Signal generator - User joystick input Call up real-time graphs of signals & outputs Through the point-and-click system diagram interface, a user can:

28. Simulation Module Numerical Simulation –Fast compiled C++: >3000 Hz / 266MHz PII –Better than real-time simulation On-the-Fly Parameter Editing –Plant models –Controller parameters –Reference Commands, Disturbances, Noise, etc. –Integration methods: Euler, Runge-Kutta 4, etc. Extensibility (SIM)

29. Simulation Module: Extensibility Changing plant parameters on-the-fly Playback of externally generated simulation: e.g. MATLAB/SIMULINK Dynamic linking: MATLAB Engine... (Edit Mode) (Playback Mode) (External-Link Mode)

30. 3D Animation –Direct-3D –Texture-mapped, light-shaded polygons –Wireframe animations from previous simulations Visualization Tools & Indicators –Real-Time Variable Display Window –2D Animation Windows: indicators –Real-time multiple-graph plotting Extensibility Graphical Animation Module (GAM) (SMAC)

31. Direct-3D standard file format (.x files) 3D modeling packages: e.g. 3D Studio Libraries of 3D objects widely available: Internet & commercial vendors. Animation Module: Extensibility

32. 3D Mesh Libraries http://www.3dcafe.com

33. Internal data between environment system modules External Application Communication –Transfer saved simulation data between files and application –Communicate with different applications on the same PC using Microsoft’s ActiveX –Communicate with different applications on different computers (e.g. UNIX) through internet (TCP/IP) / network Communication Module (COM)

34. A-Lab External Commmunication : Example of Simulation Data Flow SIMULINK Simulation Animation block S-Function (.DLL) COM Module Active-X Interface Animation Module Active-X Automation

35. SIMULINK Consists of several System-Specific Animation-Enabler Blocks (AEBs) (SIMULINK plug-ins)….6 DOF AEB

36. Help-Instruct Module On-line Help –Instructions on using the environment –Program reference HTML / PDF Documents –Model documentation/ references –Interactive tutorials (HIM)

37. Summary Versatile system-specific interactive MoSART environments Windows / C++ / Direct-X / MATLAB User friendly: accessible & intuitive User can alter system model structure & parameters (on-the-fly) Highly extensible: ability to incorporate new simulation/animation models

38. Future Directions More visual indicators Advanced SIM and GAM (e.g. TLHS) Expanded HIM: web support, multimedia –Develop Model Documentation Feature Enhanced integration with MATLAB / SIMULINK / LABVIEW / Excel….all are ActiveX Compatible Integrated design & analysis environment Develop Additional Environments … development of Facility http://www.eas.asu.edu/~aar/research/mosart/Presentations/ see: