Page 54 - Mechatronics with Experiments

JWST499-Cetinkunt
JWST499-c01
40 MECHATRONICS Printer: Yet to Come October 9, 2014 7:39 254mm×178mm
PC

Simulink ® /Stateflow: Machine model:
Control logic Dynamic, non real-time
Stick
Bucket cylinder
cylinder
Boom
Stick
Swing Motor
Upper
Bucket
housing
Boom
cylinders
Under-carriage
tracks (x2) with
hydrostatic drives
FIGURE 1.29: Embedded control software development phase 1: modeling and simulation in
non-real-time.

PC
Simulink ® /Stateflow:
Control logic

USB/CAN
ECM

HIL
Simulator
Machine model:
Dynamic, real-time
Stick
Bucket cylinder
cylinder
Boom
Stick
Swing Motor
Upper
Bucket housing
Boom
cylinders
Under-carriage
tracks (x2) with
hydrostatic drives

FIGURE 1.30: Embedded control software development phase 2: hardware-in-the-loop (HIL)
real-time simulation and testing.