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Sistema Avanzado De Prototipado Rápido Para Control En TESIS DOCTORAL SISTEMA AVANZADO DE PROTOTIPADO RAPIDO´ PARA CONTROL EN EXOESQUELETOS Y DISPOSITIVOS MECATRONICOS´ Autor: Antonio Flores Caballero Director: Mar´ıaDolores Blanco Rojas Codirector: Luis Enrique Moreno Lorente Tutor: Mar´ıaDolores Blanco Rojas DEPARTAMENTO DE INGENIERIA´ DE SISTEMAS Y AUTOMATICA´ Leganes,´ 15 de Diciembre 2014 TESIS DOCTORAL (THESIS) SISTEMA AVANZADO DE PROTOTIPADO RAPIDO´ PARA CONTROL EN EXOESQUELETOS Y DISPOSITIVOS MECATRONICOS´ . Autor (Candidate): Antonio Flores Caballero Director (Adviser): Mar´ıa Dolores Blanco Rojas Codirector (Co-Adviser): Luis Enrique Moreno Lorente Tribunal (Review Committee) Presidente (Chair): Jose Luis Pons Rovira Vocal (Member): Antonio Gimenez´ Fernandez´ Secretario (Secretary): Santiago Garrido Bullon´ Suplente (Substitute): T´ıtulo (Grade): Doctorado en Ingenier´ıa Electrica,´ Electronica´ y Automatica´ Calificacion:´ Leganes,´ 15 de Diciembre de 2014 Esta tesis ha sido financiada por el Ministerio de Ciencia e Innovacion´ del Gobierno de Espana,˜ y esta´ enmarcada dentro de proyecto HYPER CONSOLIDER-INGENIO 2010 (ref. 2010/00154/001). Robotics Lab – Universidad Carlos III de Madrid Abstract One of the most challenging fields of engineering is system control, which was established with the aim of automating complex systems without human in- teraction. Thus, by means of the feedback theory, it is intended to modify the most critical system variables to the obtain the desired behavior. Event most of the ap- plications are linear control-based, there exist some occasions where it becomes necessary to apply other approaches for obtaining reasonable results. During the last years, a new type of elements named intelligent materials have been disco- vered and developed. They yield very interesting properties although they are extremely difficult to control with classical techniques. Even they have a limited number of applications due to their complexity, the actual increase in computer power make them attractive. In such a way, the continuous improvement of their size and performance have converted these intelligent materials into a future refe- rence. The aim of this dissertation is to suggest solutions to several problems con- trolling SMA actuators. Due to their high hysteresis, a novel methodology for their identification, adjustment and implementation in the control loop is presen- ted improving the conventional linear methods. Thus, several experimental results and comparisons among several control methods are presented. Furthermore, the initial state search problem in the SMA actuator has been solved. The presented contributions of this thesis have been tested and fully optimized in order to be installed in a real time actuation platform. In such a way, a new field of applications and future works is established suggesting a wide range of new possibilities. Keywords: Control engineering, SMA, hysteresis, Prandtl-Ishlinskii, Bouc-Wen, HYPER, Differential Evolution. I Resumen La necesidad de automatizar sistemas complejos da origen a la ingenier´ıa de control. Utilizando el principio de realimentacion,´ se pretende conseguir que las variables de interes´ del sistema se acerquen a un comportamiento deseado. En un principio se utilizaron sistemas de control basados en logica´ combinacional mediante reles´ y electronica´ analogica´ para tratar magnitudes mas´ alla´ de la logica´ binaria, estos sistemas adolec´ıan de una gran falta de fiabilidad. Con la aparicion´ del microprocesador, se abrieron las posibilidades del control digital. Con el paso de las decadas,´ la necesidad de controlar sistemas grandes y complejos en plazos de tiempo cada vez mas´ cortos, provoco´ la aparicion´ de lenguajes de programacion´ de muy alto nivel, basados en graficos,´ que fueron adaptados para su utilizacion´ en sistemas de control. Son los denominados hardwares de control de prototipado rapido,´ mas´ conocidos como Rapid Control Prototyping hardware (RCP). El objetivo de la presente tesis doctoral es proponer y hacer realidad una solu- cion´ alternativa al uso de RCP comerciales, sin menoscabo de la capacidad compu- tacional y de entrada/salida. Igualando o superando la facilidad, capacidad de programacion´ e interfaces de intercambio de datos. De forma que se tenga un RCP totalmente compatible con las herramientas de desarrollo de mas´ alto nivel utiliza- das en ingenier´ıa por un coste tan extremadamente reducido que permita disponer del RCP en gran numero.´ Las contribuciones presentadas en esta tesis han sido probadas y optimiza- das, por lo que se dispone de la plataforma RCP con actuacion´ en tiempo real. Se esta´ empleando en multitud de Trabajos Fin de Grado, Tesis de Master´ y Tesis Doctorales, no ya solo´ en esta escuela, tambien´ en escuelas extranjeras. Palabras clave: Control, SMA, histeresis,´ Prandtl-Ishlinskii, Bouc-Wen, Evolu- cion´ Diferencial, HYPER. III No hay computador lento, hay c´odigosin optimizar. V Agradecimientos Agradecer a mis padres y a mi hermana el estar siempre ah´ı. Ellos ya sab´ıan que yo ser´ıa Doctor en ingenier´ıa, aun´ cuando ni me lo hab´ıa planteado, ni aun´ cuando exist´ıa esa posibilidad... ahora que lo pienso, siempre supe que acabar´ıa siendo un experto en las destrezas tecnicas´ que mas´ me gustan, aun´ cuando no hab´ıa pensado nunca en ello. Tambien´ agradecer al equipo del proyecto HYPER de la Universidad Carlos III de Madrid, Mar´ıa Dolores Blanco Rojas y Luis Enrique Moreno Lorente la con- fianza depositada en mis destrezas, sabieron ver su utilidad aun´ cuando estas´ se encontraban en estadios incipientes. Tambien´ debo agradecer lo mismo a Santiago Garrido Bullon,´ por sus lecciones sobre control siempre que le he consultado y a Ramon´ Barber Castano˜ por el interes,´ en los contenidos de esta presente tesis doc- toral, que he logrado despertar en el´ y el buen uso que esta´ haciendo de la misma. Agradecer, y no puedo decir en ultima´ instancia, pues realmente esta´ nunca llega, a los companeros˜ del laboratorio: Dorin-Sabin Copaci, Alvaro´ Villoslada, Alejandro Mart´ın Clemente, David Sanchez,´ Alejandro Lumbier; pues los conte- nidos de esta tesis les hacen la vida mas´ facil,´ y entre todos hemos podido llevar a cabo ’juguetes’ incre´ıbles, combinando todo nuestro conocimiento. Tambien´ agra- decer a los betatesters extranjeros y nacionales ajenos a la Universidad Carlos III de Madrid, tales como Marcin Chodnicki, oficial ingeniero del ejercito´ de tierra de Polonia, a Jose´ Atienza de la Universidad de Almer´ıa y a otros tantos que no tendr´ıa espacio suficiente para nombrar, por haber confiado en los contenidos de esta tesis y haberme ayudado a mejorarlos localizando defectos. La vida se abre camino, el conocimiento se ve que tambien.´ VII IX Abreviaturas I A/D Analog to Digital API Application Programming Interface ARCP Advanced Rapid Control Prototyping BIOS Basic Input Output System CASE Computer Aided Software Engineering CAN Controller Area Network CDC Communication Device Class CCM Core Coupled Memory CCP Can Calibration Protocol CMSIS ARM Cortex-MSoftware Interface Standard CPU Central Processing Unit DAC Digital to Analog Converter DCMI Digital Camera Management Interface DCS Distributed Control System DLR Deutsches Zentrum fur¨ Luft- und Raumfahrt (Centro Aeroespacial Aleman)´ DMA Direct Memory Access DOF Degree Of Freedom or Department Of Defense DSP Digital Signal Processing/or EN European Norm EMG Electromiograf´ıa EXTI External Interrupt FPGA Field Programmable Gate Array FPU Floating Processing Unit FSMC Flexible Static Memory Controller GPIO General Purpose Input-Output GPU Graphics Processing Unit HID Human Interface Device HIL Hardware In the Loop I/O Input-Output I2C Inter-Integrated Circuit X XI Abreviaturas II I2S Integrated Interchip Sound IEC International Electrotechnical Commission IRQ Interrupt Request JTAG Joint Test Action Group norma IEEE 1149.1 LIN Local Interconnect Network MBD Model Based Design MCU Microcontroller MEX Matlab Executable NP Neuroprotesis´ NR Neurorobot PID Proporcional-Integral-Derivativo PIL Processor In the Loop PWM Pulse Width Modulation RAM Random Access Memory RCP Rapid Control Prototyping ROM Read Only Memory RTOS Real-TimeOperating System SBC Single Board Computer SDK Software Development Kit SIL Software In the Loop or Security Integration Level SMA Shape Memory Alloy SOC System On Chip SPI Serial Peripheral Interface SWD Serial Wire Debug TFT-LCD Thin Film Transistor Liquid Crystal Display TLC Target Language Compiler UART Universal Asyncronous Receiver/Transmitter UML Unified Modeling Language USB Universal Serial Bus XCP Extended Calibration Protocol XII Indice´ general Abstract I Resumen III Agradecimientos VII Abreviaturas I X Abreviaturas II XII 1. Introducci´on 1 1.1. Origen de esta tesis . 1 1.2. Proyecto HYPER . 2 1.3. Prototipado Rapido´ para Control (RCP) . 3 1.3.1. Concepto actual de Prototipado Rapido´ para Control . 4 1.3.2. Nuevo Concepto de Prototipado Rapido´ para Control . 6 1.4. Requisitos del proyecto HYPER . 7 1.5. Objetivos de la tesis . 10 1.6. Novedades Esperadas . 14 2. Estado del Arte 17 2.1. Lenguajes S´ıncronos . 19 2.1.1. Esterel . 21 2.1.2. Lustre . 25 2.1.3. Signal . 25 2.1.4. LabVIEW® .............................. 25 2.1.5. MATLAB®/SIMULINK® ..................... 26 2.1.6. ADA . 27 XIII 2.1.7. Lenguaje Unificado de Modelado. UML . 31 2.1.8. Lenguaje de modelado de sistemas. SysML . 32 2.2. Herramientas CASE . 32 2.3. RCP Comerciales . 33 2.3.1. xPC Target® . 33 2.3.2. CompactRIO® y MyRIO® . 38 2.3.3. dSPACE® . 42 2.3.4. IBM Rational® ............................ 46 2.3.5. Conclusiones RCP comerciales . 47 2.4. Toolboxes Programacion´ Grafica´ para MCU . 51 2.4.1. dsPIC Blockset® . 51 2.4.2. FreeScale HCS12® . 53 2.4.3. Motorola/FreeScale MPC555 . 53 2.4.4. SimuQuest® . 55 2.4.5. FlowCode® . 56 2.4.6. Aimagin® . 58 2.4.7. Matlab® 2013b low cost targets . 60 2.4.8. STM32 Matlab Target . 61 2.4.9. Conclusiones Toolboxes para MCU . 63 2.5. Sistemas RCP con origen no comercial . 64 2.5.1. ScicosLab® . 64 2.5.2. Scilab® . 72 2.5.3. Kernel Mode based systems. MATLAB/SIMULINK® exter- nal mode . 74 2.5.4. Modelica® .............................. 77 2.5.5.
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