The multibody dynamics (MBDs) approach is mainly used for modelling and simulating mechanical systems,
especially if they have complex dynamic analysis. Stabilization controllers are added to provide constraint
stability during validation of the multibody equations. For controller design, model linearization should be
addressed to obtain the state-space formulation. On the other hand, field-programmable gate arrays (FPGAs) are
widely used for the fast development of control systems and embedded applications. Thus, they are suitable for
the stabilization of the underactuated mechatronic applications. Thus, MATLAB software is used to build the
symbolic model and the computational simulation of an inverted wheeled robot. Then, the PID controller is
designed and simulated for this application. Simulation results show the effectiveness of the multibody dynamics
approach in the formulation of the state space model-based controllers of mechatronic applications. The LabVIEW
FPGA module is used to implement the controller on the sbRIO 9631 single RIO board. The results show that the
settling time is 2 seconds, and the steady-state error is ±0.5 degrees at the zero-tilt angle set point. |
