MATLAB REAL-TIME WORKSHOP EMBEDDED CODER - S Manuel d'utilisateur télécharger pdf (Page 51)

TargetLink and RTW EC give the same result in the simulation for test case 4. As

shown in Figure 16 for test case 4, the result is a signal which does not follow the

set points. This is expected since in this case an external signal is used in the

system and the controller signal is ignored and not used.

Another comparison is made, this time between controlling against target with the

handwritten code and the generated code from both tools. This is done by

integrating the generated code with the base software using Lauterbach to run on

the target. Lauterbach is an embedded system that helps to connect and run the

software with the hardware which is a microprocessor that controls the valve of

the coupling.

Four tests have been carried out with Lauterbach. Different values of the actual

pressure in the valve were chosen to see how the controller works to regulate the

pressure to follow certain pressure setpoint:

Test case 1: Actual pressure = 0.6 MPa

Test case 2: Actual pressure = 1.2 MPa

Test case 3: Actual pressure = 4 MPa

Test case 4: Actual pressure is varying between 1MPa and 2 MPa

The results are shown in figures 17-23 below for handwritten code, TargetLink

generated code and Real-Time Workshop Embedded Coder generated code

respectively. In the figures below the green line is a simulation of a driving

situation, the red line is the pressure set points, the blue line is the actual pressure

which is set by the tester here and it always has a specific value that does not

change and does not follow the pressure set point in the figures and finally the

purple line is the valve signal which is controlled by the implemented controller.

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MATLAB REAL-TIME WORKSHOP EMBEDDED CODER - S Manuel d'utilisateur Page 51