Real-time Control Implementation of Simple Mechatronic Devices Using MATLAB/Simulink/RTW Platform

Abstract

In this paper digital control solutions for speed control of direct current (DC) motor and level control of dual water tank system are described using conventional control algorithms such as (PID (Proportional + Integral + Derivative) and PI (Proportional + Integral)), as well as intelligent control algorithms based on fuzzy logic. The control algorithms are developed in the Simulink graphical programming environment. Using Real-time Workshop (RTW) build tools an optimized "C" language code is generated and compiled for real-time execution on the devices using a Visual C/C++ compiler, seamlessly. Appropriate software tools have also been utilized to allow remote activation of the systems. This capability allows realistic CAD (Computer Aided Design) drawings that accurately represent the physical systems on the remote terminals to exhibit appropriate motion corresponding to the actual movement of the physical system in the laboratory. The setup is used for experiential learning and research efforts involving engineering and computer science majors at the university, as well as for demonstration purposes for the introductory Control Systems (ENGE 382) and Instrumentation (ENGE 380) courses offered by the author for engineering majors.