sapiСистемный анализ и прикладная информатика«System analysis and applied information science»2309-49232414-0481Belarusian National Technical University10.21122/2309-4923-2021-1-29-37sapi-500Research ArticleУправление техническими объектамиManagement of technical objectsПередача данных с Simulink на 6-DoF виброплатформу по CAN BUSData transmission with Simulink on 6-DoF platform on CAN BUSМихайловВ. Г.MikhailovV. G.

Михайлов Владимир Георгиевич - кандидат технических наук

Минск

Mikhailov Vladimir Georgievich

Minsk

apr7@mail.ruМидивисана, ОООБеларусьMidivisanaBelarus202123042021012937Copyright © Михайлов В.Г., 20212021Михайлов В.Г.Mikhailov V.G.Данная работа распространяется под лицензией Creative Commons Attribution 4.0.This work is licensed under a Creative Commons Attribution 4.0 License.https://sapi.bntu.by/jour/article/view/500

Рассмотрено использование для передачи данных c Simulink по CAN BUS, который сейчас широко применяется в робототехнике, авиа и автомобилестроении в системах управления для обмена данными между микроконтроллерами, благодаря своей простоте и надежности.

Выявлено, что ПО CAN_API.dll, откомпилированное в Microsoft Visual Studio (MVS) не работает с TDM-GCC-64 Matlab/Simulink из-за разного подхода в именах функций dll по стандарту C++11. Чтобы устранить эту проблему требуется перекомпилирование dll в среде TDM-GCC-64 под Windows, которое может выполнить только разработчик dll.

Оптимальным выбором для реализации передачи данных c Simulink на стенды с электроактуаторами по CAN BUS является использование адаптеров Titan TITAN ELECTRONICS INC, которые позволяют реализовать частоту обмена более 100 Гц для 6-ти осной платформы.

Предложен способ сжатия информации и повышения скорости обмена в 2 раза за счет побайтного занесения двух значений float в поле данных с использованием одинаковых значений идентификаторов объектов управления для двух цилиндров и последующего их разделения в программе микроконтроллеров цилиндров.

Разработана программа передачи/обмена данных c Simulink на устройства управления стендов, для которой оптимальным значением квантования является chc=350. Все это вместе позволяет реализовать частоту обмена 230 Гц и режим реального времени моделирования.

Use of CAN BUS for data transmission in Real-Time mode with Simulink on control objects is considered (6-DoF a platform).

It is revealed that software of CAN_ API.dll adapters, created in the Microsoft Visual Studio (MVS) does not work with TDM-GCC-64 Matlab/Simulink because of different approach in names of the dll functions according to the standard C ++ 11/17. Recompile by the developer of the adapter of its software (dll) in the TDM-GCC-64 environment under Windows is required.

It is established that CAN BUS considerably reduces modeling speed by 4.5 times. The way of information compression and fall forward of exchange twice due to byte-by-byte entering of two float values in the data field is offered. Use of identical values of identifiers is applied to two cylinders 6-DoF of a platform and the subsequent their division in the program microcontrollers of cylinders.

For implementation of a Real-Time mode in addition to compression it is offered to transfer data with the smaller frequency (quantization) by what a modeling clock period. It was considered that 6-DoF platforms reproduce frequency band to 10–12 Hz. The program of transfer/data exchange with Simulink on stand control devices with quantization is developed. Influence of parameter of quantization for the period of modeling is investigated. It is established that the Real-Time mode of modeling is provided in the range of parameters of quantization (chc=1/350–1/1000). Frequency of exchange with 6 cylinders at the same time corresponds to 230, 150 Hz.

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The authors declare that there are no conflicts of interest present.