RecurDyn과 SIMULINK를 이용한 제어기 설계용 통합 개발 플랫폼에 관한 연구

Abstract

This paper proposes a platform that is to efficiently design a controller using RecurDyn (Multi-body dynamic analysis software) and SIMULINK. The proposed platform consists of two parts. One is to model the plant's dynamic property using RecurDyn analysis tool. The other is controller design using SIMULINK. We can implement with co-simulation through the combination of RecurDyn and SIMULINK. This platform enables us to design a controller quickly and efficiently than using only 'Matlab' through the adaptation of RecurDyn that calculate precisely the plant's dynamic property. In this paper, a control target is Inverted Pendulum System and Two Wheel Robot. The proposed platform has been verified through the design process for the PID and Fuzzy controller and the implementation.