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From: Gurzixo on 15 Jul 2010 08:59
Dear All,

For a personnal project (a small line-follower robot for my son), I am
developing a speed regulation for a DC motor using a microcontroller and
PWM.
There is a quadrature encoder on the motor output.
I have generated a file containing command/result values, and have
succesfully done the identification of the plant using "ident", and an
arx411 model.
I have entered this model in "sisotool", and succesfully designed (using
automatic pid optimisation) a compensator:
C=8.962 * (1+0.013w)(1+0.38w) / w, with w=(z-1)/Ts.
I have exported this compensator to workspace, so when I double click on the
"C" object, Matlab says:

Zero/pole/gain from input "Input" to output "Output":
16.9566 (z+2.991) (z-0.8676)
----------------------------
(z-1)
Sampling time: 0.05

My problem is now to synthetise the code of this compensator in C language,
in order to put it in the robot.
My idea was to enter "C" into fdatool (as I think, perhaps naively, that
this compensator is in fact a transfert function, and so a filter), in order
that fdatool generates automatically the code.
Unfortunately, I found no way to import the "C" object in fdatool, which
seems only to accept "dfilt" objects, and not "LTI" - "zpk" objects
I tryed various options for the last 3 days, using Matlab help and Google
extensively, but I am stuck :-(

I am still a naive Matlab user, and the last time I used Z transforms was at
school, 30 years ago :-)
I am an experienced C developer for embedded systems.

Am I using correctly the toolboxes?
Is it the right way to solve my problem and synthetize this compensator?

Any help or pointers would be greatly appreciated!!

Michel




From: Arkadiy Turevskiy on 29 Jul 2010 16:17
The recommended workflow is to use Simulink and Real-Time Workshop.
Add LTI System block from Control System Toolbox to your model, enter C as block parameter and then generate code with Real-Time Workshop.
Arkadiy



"Gurzixo" <none(a)none.com> wrote in message <4c3f06ac$0$634$426a74cc(a)news.free.fr>...
> Dear All,
>
> For a personnal project (a small line-follower robot for my son), I am
> developing a speed regulation for a DC motor using a microcontroller and
> PWM.
> There is a quadrature encoder on the motor output.
> I have generated a file containing command/result values, and have
> succesfully done the identification of the plant using "ident", and an
> arx411 model.
> I have entered this model in "sisotool", and succesfully designed (using
> automatic pid optimisation) a compensator:
> C=8.962 * (1+0.013w)(1+0.38w) / w, with w=(z-1)/Ts.
> I have exported this compensator to workspace, so when I double click on the
> "C" object, Matlab says:
>
> Zero/pole/gain from input "Input" to output "Output":
> 16.9566 (z+2.991) (z-0.8676)
> ----------------------------
> (z-1)
> Sampling time: 0.05
>
> My problem is now to synthetise the code of this compensator in C language,
> in order to put it in the robot.
> My idea was to enter "C" into fdatool (as I think, perhaps naively, that
> this compensator is in fact a transfert function, and so a filter), in order
> that fdatool generates automatically the code.
> Unfortunately, I found no way to import the "C" object in fdatool, which
> seems only to accept "dfilt" objects, and not "LTI" - "zpk" objects
> I tryed various options for the last 3 days, using Matlab help and Google
> extensively, but I am stuck :-(
>
> I am still a naive Matlab user, and the last time I used Z transforms was at
> school, 30 years ago :-)
> I am an experienced C developer for embedded systems.
>
> Am I using correctly the toolboxes?
> Is it the right way to solve my problem and synthetize this compensator?
>
> Any help or pointers would be greatly appreciated!!
>
> Michel
>
>
>
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