GUI

STOP

RT-DAC/PCIreal-timeMS Windows®

Two Rotor Aero-dynamical System (TRAS)

2000/xPMATLAB®RTWRTWT

real-timeMATLAB/Simulink

RTWRTWT

MATLABMS Visual C++R14 SP2, SP3

Open WatcomMATLAB

DC

DC

IBM-PCreal-time

RT-DAC/PCI

TRASRTWTRTW

MATLAB

rotorrotator

IBM-PC

TRASM-fileSimulinkMEX-fileC

MATLAB

on-line

real-time

TRAS

on-lineMATLAB

real-timedemo

RTWT

GUIMATLAB

>> tras

ToolsBasic TestsReset AnglesManual SetupSTOP

RTWT Device DriverTRAS Device Driver

Basic IdentificationStatic Characteristics

Simulation Models1-DOF Azimuth Simulation Model1-DOF Pitch Simulation Model

2-DOF Simulation Model

Demo ControllersPID AzimuthPID PitchPID Cross-coupled or Simple

StaticStatic Characteristics

Tools

Basic Tests

Basic Tests

Detect RT-DAC4/PCI board

Reset Angle Encoders

Yes

Check AnglesYes

encoder

Open-Loop Control

drag

dragTRASz

Basic Tests

RT-DAC4/PCI

Reset Encoders

ToolsReset Encoders

Basic Tests

Reset Encoders

Manual Setup

ToolsSTOPManual Setup

RT-DAC4/PCI board

Encoders

Control

Tacho

RT-DAC4/PCI board

PCI

Logic

OK

Encoders

azimuthpitchValue

Angle [rad]Reset

ASICS/FPGA

ValueEncoders

Control

DCPWM

AzimuthPitch

STOP

PWM prescaler

Thermal flag / status

RTWT

Pulse Width Modulation

Tacho

RTWT Device Driver

real-timeMATLABRT-DAC/PCI

TRAS Device Driver

tras_{ }_{ }

TRASLook Under Mask

RT-DAC/PCI

Basic Identification

Static Characteristic

Simulation Models

tras_sim_azimuth_{ }_{ }

tras_sim_pitch_{ }_{ }

MIMO

SISO

Simulink

Demo Controllers

PID

Tools > Real-Time Workshop > Build Model

Ctrl+BConnect To Target

SimulationCtrl+TStart Real-Time Code

Simulation

TRAS Device Driver

Two Rotor Aero-dynamical System User's Manual. Kraków : InTeCo Ltd., 2006.

Two Rotor Aero-dynamical System Installation Manual. Kraków : InTeCo Ltd., 2006.

azimuth

pitch