Návrh HIL simulátoru pro výuku automatického řízení

Abstract

HIL simulator replaces real model with whish is possible to monitor the dynamic behavior of the model in real time. For this thesis, the model of the helicopter was chosen. Model was described with the system of the nonlinear differential equations. From this mathematical model the state space model was created. Then for the state space model the state controller was designed. In the IDE Rexygen Studio, the state space model and state controller were created as programs. After the compilation, these programs were uploaded to the Raspberry Pi units. Programs are executed in the background in real time, and they communicate with each other via MQTT protocol. Within the HIL simulator the Web application was created, which allows to display the state space variables and setpoints can be set.