Development of Interactive Modeling, Simulation, Animation, and Real-Time Control (MoSART) Environments: Tools for Enhancing Research & Education. Sponsors: Boeing, CADSI, AFOSR, Honeywell, Integrated Systems, Intel, Knowledge Revolution, Microsoft, National Science Foundation Unitat d'Enginieria de Sistemes i Automàtica, June Armando A. Rodriguez Richard P. Metzger Jr. Chen-I Lim

Outline Motivation System Dynamics Description of Interactive MoSART Environment Utility of Environment Summary and Future Directions

Motivation Advanced visualization tools are needed for system analysis and design. Research/education can be enhanced with interactive multimedia environments. PC platforms now offer substantial computing power for engineering design.

State of the Art Working Model (Knowledge Revolution) DADS/Plant (CADSI) …generic, not optimized for specific systems (both have contributed to development of MoSART facility at ASU)

Contributions of Work System-specific interactive MoSART environments High performance: Windows/ C++ Advanced visualization tools: Direct-3D Extensible: integration with MATLAB User friendly

Key Environment Features Real-time simulation Alter model/controller: -structure - parameters (on-the-fly) Advanced visualization: - real-time graphics - visual indicators/aids - 3D animation models Direct user input via joystick Integration with MATLAB: advanced CAD tools

Interactive MoSART Environments Robotic Manipulator High-Performance Aircraft Missile-Target Engagements Pendulums: Inverted, Rotary, Multi-link... Adaptive Algorithms/Learning Systems Submarine Environment

Basic Helicopter Dynamics Near Hover Vertical Dynamics Longitudinal Dynamics

Vertical Dynamics Near Hover - Collective control Open loop poles:

Longitudinal Dynamics Near Hover State Space Representation: - Cyclic control Unstable: backflapping mode Open loop poles: …need AFCS to minimize pilot workload θ 010θ0 θ =0M q M u θ +M Blc B lc x-g0X u xx Blc..... Horizontal damping mode

Longitudinal Dynamics Near Hover Unstable: backflapping mode Open loop poles & zeros: Horizontal damping mode Lightly damped zero Pitching Dynamics:

Longitudinal Dynamics Near Hover Unstable: backflapping mode Open loop poles & zeros: Horizontal damping mode Horizontal Speed Dynamics:

Longitudinal Dynamics Near Hover Open loop poles & zeros: Lightly damped zero

P “General” System Diagram K Exogenous signals Control signals Regulated outputs Measurements

Specific System Diagram

Pentium PC Windows ’95/NT About the Program System Requirements: Pentium 166 / Windows 95/NT. 32 MB RAM. Direct-3D 3.0. Recommended: Pentium II 266 w/ MMX running Windows NT MB RAM. Direct-3D 3.0. Visual C++/ MFC Direct-3D v3.0 MATLAB Engine v5.0

Environment Structure Program User Interface Simulation Module Graphical Animation Module Help-Instruct Module (PUI) (SIM) (GAM) (HIM)

Program User Interface (PUI) User Friendly Windows ’95/NT Interface Menus Multiple windows Control toolbars Interactive System Diagram Block Diagram representation of system Point-and-Click access

Use of the PUI Edit system parameters on-the-fly Change reference commands: - Signal generator - User joystick input Call up real-time graphs of signals & outputs Activate or deactivate a block Through the point-and-click system diagram interface, a user can:

Simulation Module (SIM) Numerical Simulation On-the-Fly Parameter Editing Fast compiled C++: >3000 Hz / 266MHz PII Better than real-time simulation Plant models Controller parameters Reference Commands, Disturbances, Noise, etc. Integration methods: Euler, Runge-Kutta 4, etc. Extensibility

Simulation Module: Extensibility Changing plant parameters on-the-fly Playback of externally generated simulation: e.g. MATLAB/SIMULINK Dynamic linking: MATLAB Engine... (Edit Mode) (Playback Mode) (External-Link Mode)

Graphical Animation Module (GAM) 3D Animation Direct-3D Texture-mapped, light-shaded polygons Wireframe copters from previous simulations Real-Time Variable Display Window 2D Animation Window: pitch indicator Real-time graph plotting Visualization Tools & Indicators (SMAC) Extensibility

Animation Module: Extensibility Direct-3D standard file format 3D modeling packages: e.g. 3D Studio Libraries of 3D objects widely available

Help-Instruct Module (HIM) On-line Help Instructions on using the environment Program reference HTML Documents Model documentation Interactive tutorials

Sikorsky UH-60 Blackhawk Aerodynamic Derivatives Near Hover

Utility of Environment Unstable backflapping mode Open-loop joystick control Stability of Closed-loop system under automatic control Closed-loop user joystick control

Summary Versatile system-specific interactive MoSART environments Windows / C++ / Direct3D / MATLAB User friendly: accessible & intuitive User can alter system model structure & parameters (on-the-fly) Highly extensible: can incorporate new simulation/animation models

Future Directions More visual indicators Advanced SIM and GAM Expanded HIM: web support, multimedia Enhanced integration with MATLAB Integrated design & analysis environment Online presentation available at: … development of MoSART Facility at ASU