tailieunhanh - Mechatronic Systems, Simulation, Modeling and Control 2012 Part 9

Tham khảo tài liệu 'mechatronic systems, simulation, modeling and control 2012 part 9', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 234 Mechatronic Systems Simulation Modelling and Control experiment. It also has the display part of the experimental data the property of the RealTime task and messages for user. Menu Bar Tool Bar Fig. 13. GUI of integrated environment In this implemented integrated environment it is possible to use the same GUI between the local control using only the server machine and the remote control using the server machine and the client machine. Proxy pattern Gamma et al. 1995 is used for the mechanism of the local and remote compatible GUI. Proxy pattern is the design pattern which makes Proxy class as the proxy of RealSubject class which is the real actor and it handles processes of RealSubject class as much as possible. Figure 14 shows the class diagram of the integrated environment using Proxy pattern. The GUI which is shown by Fig. 13 is provided by RTWindow class. RTWindow class has the classes which provide the GUI parts like ViewPanel class and the implementation class of MKTask interface which executes the Real-Time control. MKTaskImpl class is used for the local control RemoteMKTaskProxy Proxy class is used for the remote control instead of RemoteMKTaskImpl RealSubject . ViewPanel Property RTWindowb GUI Parameter Designer RealSubject Fig. 14. Class Diagram of Real-Time control system Integrated Environment of Simulation and Real-Time Control Experiment for Control system 235 4. Experiment of stabilization control of an inverted pendulum To verify the effectivity of the method proposed by this paper we execute the experiment of the stabilization control of an inverted pendulum using the developed integrated environment. First do modeling a pendulum using Jamox and design a controller using MaTX. Figure 15 shows the result of the modeling and the design of controller. Fig. 15. Modeling of pendulum using Jamox Simulation is executed by using Jamox. At this time a user selects a solver of the differential equation and input the