Υπολογιστικά πειράματα με το MATLAB Σύνδεση με Arduino & Raspberry Pi Ζαχαρίας Γκέτσης Μηχανικός Εφαρμογών © 2012 The MathWorks, Inc.1 Project-Based Learning Project-based learning is a comprehensive approach to classroom teaching and learning that is designed to engage students in investigation of authentic problems. Motivating Project-Based Learning: Sustaining the Doing, Supporting the Learning, Educational Psychologist Volume 26, Issue 3-4, 1991 2 Two Avenues for Project-Based Learning Simulation Physical Interaction 3 Simulation Algorithm Device World 4 The leading environment for technical computing GUI-based block diagram environment on top of MATLAB for modeling, designing and solving dynamic systems Applications: Control systems Electrical systems Mechanical systems Hydraulic systems Signal processing Video and image processing Event-based systems Any dynamic system 5 Using MATLAB in Courses Typical foundation courses: Calculus, linear algebra Numerical mathematics Probability and statistics Optimization Physics Typical application courses: Signals, systems, and control Partial differential equations Financial engineering Mechanical engineering Image processing For more books, visit www.mathworks.com/books 6 1 DOF mass-spring-damper system Model: Problem: Model a 1 DOF mass-springdamper system within the Simulink environment from first principles and using physical modeling tools. 7 Derive the equations of motions of the system   Use Newton’s second law to derive EOM Take Laplace Transform to get transfer function mx  F t   kx  bx  1  x  m F t   kx  bx  ms 2 X s   F s   kX s   bsX s    X s  1  F s   ms 2  bs  k  8 Model the mass-spring-damper system Using:     First principles (EOM) Transfer function Physical models (mass, spring, damper) Electrical equivalent of the system (capacitor, resistor, power source) 9 Mechatronic Design and Simulation  Library of physical elements   Mechanical, hydraulic, electrical… Tools for control design Mechanical Hydraulic Thermal Electrical Pneumatic Magnetic N S 10 DC Motor Model Model: V+ Shaft VHousing Problem: Model a DC motor in a reusable way within the Simulink environment Solution: Use physical components to model the electromechanical system 11 Simulation Benefits Inexpensive Accessible Robust “What-If” Scenarios “See” the Algorithms 12 Physical Interaction Algorithm Device World 13 MATLAB/Simulink Hardware Support for Project-Based Learning With just a click, run your model on hardware Selected Simulink Supported Target Hardware: -Arduino® Uno ($30), Mega 2560 ($65) -LEGO® MINDSTORMS® NXT ($280) -Raspberry Pi Model B ($35) -BeagleBoard-xM ($150) -PandaBoard ($180) -Gumstix® Overo hardware ($180) Also Available in Student Version 14 Arduino Arduino is an open-source microcontroller board, with an associated development environment. – Analog and Digital Input-Output directly from MATLAB code – Motor control and System Design from command line and Simulink models – Large set of sensors and actuators – Ideal for low budget projects 15 Same board… different approaches Write code and communicate with the board Develop a model and program the board Tethered Approach Embedded Approach 16 DC Motor Control using Arduino Uno Host Computer Arduino Uno DC Motor voltage request voltage angle angle Serial communication Motor driver 17 Raspberry Pi  What is it? –  Credit-card sized, low-cost, single-board computer with audio and video input/output, designed for teaching Who created it? Raspberry Pi Foundation: http://www.raspberrypi.org/  What are the specs? – – – Broadcom® system-on-a-chip which includes an ARM®11 processor running at 700 MHz with 512 MB RAM Peripheral connectivity for stereo audio and digital video (1080p) and supports USB and Ethernet. It measures 85.6mm x 56mm x 21mm, with a little overlap for the SD card and connectors. It weighs 45g. Image from: http://www.raspberrypi.org/faqs “Overall real world performance is something like a 300MHz Pentium 2” 18 Hardware Setup  What hardware do I need? – Raspberry Pi Model B – Power cable (Micro USB-B needed by Raspberry Pi)  Multiple options; I use USB-A to Micro USB-B cable for power – Ethernet cable – SD Card  MicroSD card that sockets into SD shell will also work – Open SD Card port (on host computer)   Need port to write firmware on SD Card / Micro SD card Can use native port or USB-based device – Open Ethernet port (on host computer)  Option: Can use USB-Ethernet dongle – Case (nice to have) – USB Webcam (UVC compatible) 19 Raspberry Pi (Model B) Support from Simulink 20 Physical Interaction Benefits Accessible High Fidelity Unexpected Scenarios Hands-On Learning Engaging 21 MATLAB/Simulink Solutions for Project-Based Learning Project-Based Learning – Learning by Doing Simulation MATLAB and Simulink: -Both simulation and hardware solutions -Target affordable hardware platforms -Industry-standard workflow for engineering education Physical Interaction 22 Eπικοινωνία & πληροφορίες Τηλ: 210.60.31.121 - Fax: 210.60.31.024 - e-mail: [email protected] Μάθετε τα νέα μας στο διαδίκτυο: Eπισκευθείτε το web site μας : www.mentorhellas.com Mentor Hellas - Scientific Engineering Software http://www.facebook.com/pages/Mentor-Hellas-Scientific-Engineering-Software/295004863886982 Follow us on : twitter.com/mentorhellas Join our group in : MATLAB seminars in Greece http://www.linkedin.com/groups/MATLAB -seminars-in-Greece-3128153 23