Modelling, simulation, animation, and real-time control (MoSART) for a class of electromechanical systems: a system-theoretic approach

Abstract

This paper describes an interactive modelling, simulation, animation, and real-time control (MoSART) environment for a class of ‘cart-pendulum’ electromechanical systems that may be used to enhance learning within differential equations and linear algebra classes. The environment is useful for conveying fundamental mathematical/systems concepts through computer-aided analysis, design, graphical visualization, and 3D animation. Referred to as Cart-Pendulum Control3D-Lab1, the environment is based on Microsoft Windows/Visual C++/Direct-3D and MATLAB/Simulink2. Pull-down menus provide access to systems/models/control laws, exogenous signals, parameters, animation models and visual indicators, a suite of (easy-to-modify) Simulant diagrams containing models and control laws, MATLAB m-files for detailed analysis and design, and detailed documentation for each of the above. Three blocks enable animation, joystick inputs, and real-time animation within Simulant. Examples are presented to illustrate the utility of the environment as a valuable tool for analysing/visualizing the above class of electromechanical systems and for enhancing mathematics instruction.

Acknowledgments

The authors would like to thank the referee for the suggestions made. This research has been supported, in part, by a 1998 White House Presidential Excellence Award from President Clinton, by National Science Foundation (NSF) Grants 0231440, 9851422, by the Western Alliance to Expand Student Opportunities (WAESO), Center for Research on Education in Science, Mathematics, Engineering and Technology (CRESMET), Boeing A.D. Welliver Faculty Fellowship, Intel, and Microsoft.

Notes

Control3D-Lab-short for control 3D animation laboratory.

The author to whom correspondence should be addressed.

The author to whom correspondence should be addressed.

MATLAB and Simulant are trademarks of The Masterworks, Inc.

Trademarks of Waterloo Maple and Wolfram Research, respectively.

Trademarks of MSC Software, LMS International, Masterworks, and Solidworks, respectively.

Additional information

Notes on contributors

Bruno Welfert

Control3D-Lab-short for control 3D animation laboratory. The author to whom correspondence should be addressed. MATLAB and Simulant are trademarks of The Masterworks, Inc.