1. 실험 구성 (DC모터 속도제어) -Matlab xPC Target 이용
안녕하십니까 경희대학교 박주한이라고 합니다.
오늘 발표할 내용은 유연체 모션 시스템, flexible한 시스템의 진동을 억제하기 위한 명령성형 필터의 시간 지연 값 학습에 대해서 입니다.
경희대학교
Robotics.khu.ac.kr

2. 실험구성 실험환경 PCI-6602 Host PC Target PC Serial Port PWM 신호 Encorder Data
DC 12V
Switching Power Supply
Moter
Encorder
Dc모터 제어모듈

3. 실험구성
DC 모터

4. 실험구성 Encorder A상, B상 : 1회전시 500 펄스 출력

5. 실험구성 DC모터 제어모듈 *정회전/역회전을 가능하게 해주는 H브리지회로 내장 (L298 사용)
<정회전>
*정회전/역회전을 가능하게 해주는 H브리지회로 내장
(L298 사용)
*2개의 모터를 동시에 제어 가능
*PWM신호에 의한 속도제어 가능
<역회전>

6. 실험구성
Switching Power Supply

7. PCI-6602 (National Instrument)
실험구성
PCI-6602 (National Instrument)
* PCI컴퓨터 또는 PXI Compact PCI 컴퓨터용 타이밍 및 디지털 I/O 모듈
* 8개의 32비트 카운터/타이머
* 32개의 TTL/CMOS 호환 디지털 I/O 라인 제공
* 다양한 카운터/타이머 작업 가능
(엔코더 위치 측정, 이벤트 세기, 주기 측정, 펄스 폭 측정, 펄스 생성, 주파
수 측정, 펄스 열 생성 등)

8. xPC-Target What Is xPC Target?
xPC Target is a solution for prototyping, testing, and deploying real-time systems using standard PC hardware. It is an environment that uses a target PC, separate from a host PC, for running real-time applications. xPC Target lets you add I/O blocks to your model and then use the host PC with Real-Time Workshop®, Real-Time Workshop Embedded Coder (optional), Stateflow Coder (optional), and a C/C++ compiler to create executable code. The executable code is downloaded from the host PC to the target PC running the xPC Target real-time kernel. After downloading the executable code, you can run and test your target application in real time.

9. xPC-Target • Hardware requirements • Software requirements
— The xPC Target software requires a host PC, target PC, and, for I/O, the target PC must also have I/O boards supported by xPC Target. However, the target PC can be a desktop PC, industrial PC, PC/104, PC/104+, or CompactPCI computer.
• Software requirements
— The xPC Target software requires either a Microsoft Visual C/C++ compiler (Version 6.0 or 7.1) or an Open Watcom C/C++ compiler (Version 1.3). In addition, xPC Target requires MATLAB, Simulink, and Real-Time Workshop.

10. <Host PC Requirements> *Software Requirements for the Host PC
xPC-Target
<Host PC Requirements>
*Software Requirements for the Host PC

11. <Host PC Requirements>
xPC-Target
<Host PC Requirements>
*Hardware Requirements for the Host PC

12. <Target PC Requirements>
xPC-Target
<Target PC Requirements>
*Softdware Requirements for the Target PC

13. <Target PC Requirements>
xPC-Target
<Target PC Requirements>
*Harddware Requirements for the Target PC

14. xPC-Target xPC Target Explorer • Configure the host PC for xPC Target
• Add and configure target PCs for xPC Target, up to 64 target PCs
• Create boot disks for particular target PCs
• Connect the target PCs for your xPC Target system to the host PC
• Download a prebuilt target application, DLM, to a target PC
• Start and stop the application that has been downloaded to the target
• Add scopes of type host, target, and file to the downloaded target application
• Monitor signals
• Add signals to xPC Target scopes and remove them
• Start and stop scopes
• Adjust parameter values for the signals while the target application is running

15. Configuring the xPC Target Host PC
(1) MATLAB Command Window : xpcexpl
(2) Click Compiler(s) Configuration node.
(3) Enter the path (or browse) to the compiler
for Compiler Path.
ex) C:\Program Files\Microsoft Visual Studio
(4) Click Apply to apply the changes.

16. xPC-Target Serial Communication Null Model Cable Wiring
Before you can create and run a target application, you need to set up the connection between your host and target computers. You can use either serialor network communication.
• Null modem cable — Connect the host and target computers with the null modem cable supplied by
The MathWorks with the xPC Target software. You can use either the COM1 or COM2 port.
• I/O boards — If you use I/O boards on the target PC, you need to install the boards correctly.
Null Model Cable Wiring
* the wiring for this cable for a 9-pin DB9 connector.
A null modem cable that you can use to connect the
host and target computers for serial communications.

17. xPC-Target Serial Communication
(1) From the Host target communication list, select RS232.
(2) From the Host port list, select either COM1 or COM2 for
the connection on the host PC. xPC Target determines the COM
port you use on the target PC automatically.
(3) From the Baud rate list, select the baud rate for the serial
connection between the host PC and this target PC.
(1)
(2)
(3)

18. xPC-Target Target Boot Disk At the MATLAB Command Window : xpcexplr
(2) select a target PC Configuration node.
(3) From the Target boot mode list, select a boot disk mode.
(4) Click the Create Bootdisk button.
(5) Insert a formatted 3.5-inch floppy disk into the host PC disk
drive, and then click OK.
(6) When the 3.5-inch disk drive stops, remove the 3.5-inch disk.
(7) Insert the boot disk into your target PC disk drive and
reboot that PC.

19. Simulink Simulink Model PWM Generator Reference Value (velocity)
PID Controller
Encorder Data Process

20. Simulink
PWM Generation
Prameter setting

21. Simulink
Encorder Data
Prameter setting

22. Simulink
Target Scope
Prameter setting

23. Simulink
PID Controller
Prameter setting

24. Configuration Parameters
Simulink
Configuration Parameters

25. Configuration Parameters
Simulink
Configuration Parameters

26. Configuration Parameters
Simulink
Configuration Parameters

27. Configuration Parameters
Simulink
Configuration Parameters

28. Simulink
Build Model
(2)
(1)
(3)
Command Window

29. xPC-Target Start/Stop
Simulink
xPC-Target Start/Stop 실행
*Start : +tg
*Stop : -tg