| Abstrakt: |
In this paper, the validation of the mathematical model for an aquatic robot is presented, by implementing it in MA TLAB 's Simulink toolbox to evaluate the system's natural behavior and then running it on a dSPACE card. Subsequently, a PID control for the robot's depth, which is programmed, compiled and runned on the Fox Board G20 embedded system, will be designed, in order to apply the "Hardware-in-the-loop " simulation methodology and test the Fox Board as the simulated plant's controller. For this, the dSPACE card is physically connected to the embebbed system through a RS232 communication protocol, where the data used for simulating the operation of sensors and actuators that make up the robot, are sent and received. [ABSTRACT FROM AUTHOR] |
