1. 5/15/2002 - 1 Modeling and controlling the Caltech Ducted Fan Vehicle Steve Neuendorffer EE290N Final Presentation

2. 5/15/2002 - 2 How do we get to an implementation? Abstract, high-level system model Detailed low-level system implementation

3. 5/15/2002 - 3 Some options… 1.Don't build a high-level model… Implement the system by hand. 2.Build a high-level model, but throw it away when implementation starts. 3.Build a high-level model, and validate implementation against it. 4.Build a low-level model, and generate an implementation from it. 5.Build a high-level model, refine it gradually into more detailed models that are more suitable for automatic code generation.

4. 5/15/2002 - 4 An example of heterogenous refinement Drive the ducted fan vehicle to a desired point. Continuous time vehicle and controller. A zero-delay discrete-time controller. A one-step delay discrete-time controller. An arbitrary delay discrete-time controller. A more sophisticated modal controller. A model for automatic system implementation.

5. 5/15/2002 - 5 1: Vehicle/Controller model (X,Y) Position, and direction of the vehicle Total forward thrust, and differential torque applied by the fans.

6. 5/15/2002 - 6 1: Continuous Vehicle model Specified as a differential equation, as in Simulink.

7. 5/15/2002 - 7 1: Continuous controller model A modified proportional controller…

8. 5/15/2002 - 8 2: Vehicle model with Discrete-time interface Zero-order hold models the Digital -> Analog conversion. The analog position of the vehicle is periodically sampled approximately every second.

9. 5/15/2002 - 9 2: Discrete Vehicle controller Heterogenous system modeling

10. 5/15/2002 - 10 3: Discrete Vehicle controller with one-sample delay SampleDelay added to model computation time of controller

11. 5/15/2002 - 11 4: Discrete Vehicle controller with arbitrary delay More Heterogeneity TimedDelay actor in Discrete Event domain models arbitrary delay. SDF control law CT vehicle model

12. 5/15/2002 - 12 5: A modal controller Yet More Heterogeneity

13. 5/15/2002 - 13 Breathe and watch the demo… A comparison of the modal controller versus the simple proportional controller.

14. 5/15/2002 - 14 Target specifics… (X,Y) Position, and direction of the vehicle come from video localization system. Control values are sent to motor controller by serial port.

15. 5/15/2002 - 15 6: A controller, with refined communication. Suitable for code generation One of the previous (possibly heterogenous) control laws

16. 5/15/2002 - 16 Conclusion I used Ptolemy II to model a physical control system at an high-level of granularity using an abstract model of computation. The high level model was manually refined through several intermediate steps to the point where the model was detailed enough to automatically generate the controller code.