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F:/Sakari/gimbal_interface/
Folder ‘Gimbal’ includes only the necessary files for the project; the other folder is a working folder
with extra files. Remember to compile image acquisition program into MatLab worspace before you
run ILCprocess. (see chapter “Image Acquisition Program”).
At first, because we use two computers in this project, you have to create the remote connection
between the WinCon server and the WinCon client. Do the following:
- Start WinCon client in the computer with the Quanser data acquisition board.
- Start WinCon server in the remote computer.
- In WinCon server, select ‘Connect…’
- Type in the IP address of the WinCon client computer.
The connection is ok if there is a mark next to the IP address of the client computer in the
connection menu of WinCon client.
NOTE! If you run the Simulink control models from the same computer in which you have the data
acquisition board installed, you do not have to create this kind of remote connection. Starting the
model will automatically connect WinCon server and WinCon client on the same computer.
IMPORTANT! Before you connect the Gimbal to electrical network, you have to set all the
variables to zero. This can be done with the Simulink model ‘initialization.mdl’. All you need to do
is to open the model and select ‘Start’ from the WinCon menu. After the model has started running,
you can connect Gimbal to electrical network. Then stop the process and close the model without
saving changes.
IMPORTANT! Remember to unplug Gimbal from electrical network after you stop working.
Turning off the computer that is controlling Gimbal when Gimbal is still connected to electricity
will cause Gimbal to start turning itself. This will most likely break Gimbal. Usually, when
computer is turned off too early, Gimbal will start to make nasty noise. Then, unplug Gimbal as
soon as possible. Otherwise the motors of Gimbal will break.
After initialization you have to run ‘homef.mdl’ to find the initial position for the ILC process. This
model will turn the Gimbal to zero angles. If running the model turns Gimbal to wrong direction,
you have to change variables ‘X-DIR’ and ‘Y-DIR’. Select from two values, 0 or 4. Changing these
variables makes Gimbal turn to the other direction.
When Gimbal is in home position, you can run ‘ICLprocess.m’. This is done by opening the models
used in the file (homef.mdl, point.mdl and model.mdl) and giving the command ‘ILCprocess’ in
MatLab. Three iterations will be done with different starting points.
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