Matlab控制单片机

1、Simulink:物理建模、控制系统设计与代码生成14今天的目标和内容设计图像/信号处理算法设计逻辑控制器动态系统建模反馈控制器设计实时应用:自动代码生成转动摄像头使其跟踪移动目标15Ball-Tracking Demo硬件介绍开发板：Arduino ATMEGA 328H桥驱动：SN7544舵机：Hitec HS-422(作为直流电机使用)摄像头：Logitech Webcam Pro 900016仿真任务设计图像/信号处理算法设计逻辑控制器动态系统建模反馈控制器设计实时应用:自动代码生成17识别目标ControlActuatorDetermine CommandState控制器基于事件的控

2、制系统根据事件来改变工作模式Pitch AngleMeasured Motor补偿器设计根据实际值与设定值之间的偏差来调整执行机构(PID, etc.)19Stateflow 介绍扩展了 Simulink 在开发状态机及流程图方面的应用被用来设计含有控制，监控和模式逻辑的系统用自然的方式来描述逻辑，易于理解的执行语义DemosystemLevelHardware2021什么是Stateflow?系统决策逻辑的建模和仿真： 监控系统设计 任务调度 故障管理使用状态机和流程图开发模式逻辑通过动画和调试器查看逻辑行为22控制逻辑23仿真任务设计图像/信号处理算法设计逻辑控制器动态系统建模反馈控制器设

3、计实时应用:自动代码生成Data-Driven ModelingFirst Principles ModelingNeuralNetworkToolboxSimscapeSimMechanicsSimDrivelineSystemIdentificationToolboxSimulinkDesignOptimizationSimulinkSimHydraulicsSimPowerSystemsTools for Modeling Dynamic Systems24Simulink:动态系统建模Modeling ApproachesSimPowerSystemsSimPowerSystemsSi

4、mMechanicsSimElectronicsSimDrivelineSimHydraulicsSimElectronicsSimMechanicsSimHydraulicsSimDrivelineMultidomain physical systemsDrivetrain systems (1-D)Electrical power systemsMechanical dynamics (3-D)SimscapeMATLAB, SimulinkFluid power and controlElectromechanical andelectronic systems 25SimscapeSi

5、mscape 物理建模T Ktim DJSimulink：直流电机建模直流电机RLKt,KeJ,bi26dimdtv KeimRwind LwindddtT Ktim DJSimscape：直流电机建模直流电机Simscape 建模的优点RLKt,KeJ,bidimdtv KeimRwind Lwindddt 简单易懂 创建迅速 更直观DemoMotor3_Parameter_Esti27Variable stepFixed stepExplicit solverode1Implicit solverode14xExplicit solverode45ode23ode113Implicit s

6、olverode15sode23sode23tode23tb28Simulink 提供的求解器Simulink Solvers物理模型校准未校准参数电阻电感摩擦系数转动惯量采用优化方法自动校准参数2930Simulink Design OptimizationDemoMotor3_Parameter_Esti31仿真任务设计图像/信号处理算法设计逻辑控制器动态系统建模反馈控制器设计实时应用:自动代码生成32直流电机位置控制器设计33系统级仿真34仿真任务设计图像/信号处理算法设计逻辑控制器动态系统建模反馈控制器设计实时应用:自动代码生成35MathWorks C代码生成产品MATLAB Cod

7、er从MATLAB代码中生成C和C+代码Simulink Coder 从Simulink/Stateflow模型中生成代码，便于交互和实验Embedded Coder 生成可定制的与手写代码相似的高效代码在特定环境中验证，发布生成的代码并易于做快速原型You can deploy code on any microprocessor usingSimulink Coder and Embedded Coder because theygenerate standard C/C+ (ANSI/ISO).SimulinkCoderMATLABCoderEmbeddedCoder36快速原型和HIL

8、快速原型 xPC Target Real-Time Windows Target嵌入式应用目标快速原型嵌入式代码生成 ANSI/ISO-C Embedded Targets建模和仿真仿真加速 Simulink Accelerator S-Function GRT/ERT/RSIM多域代码生成SimulinkStateflowSimulink CoderEmbedded CoderCodeGeneration软件在回路（Software-in-the-Loop）SimulinkPlant ModelHost-Compiled Cwith S-FunctionWrapper (DLL)37Cont

9、roller ModelCodeGeneration38处理器在回路（Processor-in-the-Loop）直接与硬件通讯SimulinkPlant ModelController ModelEmbedded TargetCodeGenerationHarnessPlant ModelController ModelReal-Time or快速控制原型（Rapid Prototyping）SimulinkEmbeddedEmbedded Target39CodeGenerationCodeGeneration40硬件在回路（Hardware-in-the-Loop）SimulinkHar

10、nessController ModelECUPlant ModelxPC TargetEmulatingPlant ModelxPC Target41对比: Simulink Coder and Embedded Coder快速原型代码(grt.tlc)产品代码 (ert.tlc)42模型准备设置离散求解器，定步长。选择System Target：arduino.tlc43代码生成配置软件环境硬件环境44New MATLAB/Simulink Capabilitiesfor PBL and Resources45Project-Based LearningProject-based lear

11、ning is a comprehensive approach toclassroom teaching and learning that is designed toengage students in investigation of authentic problems.* Motivating Project-Based Learning: Sustaining the Doing, Supporting the Learning, Educational PsychologistVolume 26, Issue 3-4, 199146How can MATLAB & Si

12、mulinkHelp?47MATLAB and Simulink Offer Solutions forProject-Based LearningSimulationHardware48Hardware Support for Project-Based LearningLego NXTArduinoBeagleBoardPandaBoardSimulink支持基于项目学习的目标硬件在低成本的目标硬件上运行Simulink模型支持的目标硬件 Arduino Uno($30), Mega2560($65) LEGO MINDSTORMSNXT ($280) BeagleBoard ($150) PandaBoard ($175)http:/ ComponentsSimulink Block Libraries57 Proje