Deployment of Model-Based-Design-Adaptive Controllers for Monitoring and Control Mechatronic Devices Articles uri icon

publication date

  • November 2023

start page

  • 1

end page

  • 20

issue

  • 22,12432

volume

  • 13

International Standard Serial Number (ISSN)

  • 2076-3417

abstract

  • The modeling and control of complex, non-linear, and time-changing mechatronic systems requires complex software development. They are carried out in the prototyping phase with
    engineering software development tools, generating models, and control algorithms that are not
    always easily exportable to control hardware. The following work offers an alternative that considers
    Model-Based Design using graphics-based languages, which facilitates programming tasks for modeling and controlling mechatronic devices and their transition from prototype to control hardware.
    Model-Based Design with high abstraction programming level capabilities provides the user with a
    fast coding and testing environment, suitable for laboratory prototyping and subsequent transfer to
    commercial embedded controllers. The proposed solution combines control hardware based on an
    STM32H7 microcontroller and a software development environment using graphics-based languages
    developed for MATLAB. The result is a solution that integrates control hardware and software in a
    hardware-in-the-loop paradigm. This solution provides robust and energy-saving controllers and
    demonstrates that an advanced control algorithm can be set up in a critical safety-compliant low-cost
    embedded controller via a custom model-based design. Algorithms and tools are transferred to the
    controller without losing the advantages gained in the prototyping phase. Finally, experimental
    results implementing an adaptive controller in a DC motor and in a pneumatic system are shown to
    validate the system.

subjects

  • Electronics
  • Robotics and Industrial Informatics

keywords

  • model-based design; adaptive controller; embedded controller; mechatronics control