로드러너 시뮬레이션

pid제어를 하기 위해 최적화 기능을 사용해서 각각의 제어 파라미터는 구했습니다. 그 다음에 로드러너를 사용하여 제가 얻은 값을 적용하여 속도 제어하는 모습을 시뮬레이션하고 싶은데 방법이 있을까요?

[혜빈]

차근차근 절차를 알려주세요!

Answer 1

[Shivani]

Hello @혜빈

한국어에 대한 지식이 부족하기 때문에 이 질문에는 영어로 답변하겠습니다.

To incorporate optimized PID controller parameters into a simulation that features environments created with Roadrunner, you must first implement the control system, including the PID controller, in MATLAB/Simulink. Subsequently, the 3D environment is crafted using Roadrunner. Through co-simulation, it is possible to merge the Roadrunner-created environment with the control system model developed in Simulink, enabling the simulation to accurately depict both the control system's dynamic responses and the interactive aspects of the 3D environment.

This has been elaborated upon in the following MATLAB answer thread: https://www.mathworks.com/matlabcentral/answers/2115216-roadrunner-logic-editor-pid-control?s_tid=srchtitle

Aditionally, you can refer to the following documentation links for more details on the implementation.

• https://www.mathworks.com/help/driving/ug/connect-matlab-and-roadrunner.html
• https://www.mathworks.com/videos/integrating-roadrunner-with-matlab-simulink-1608193412399.html