Demystify the real time implementation of an aero pendulum with dSPACE to visualize and compare the results of PID and SMC


  • Ali Hassan Shah Fudan University
  • Moazam Ali Siddiqui COMSATS Abbottabad
  • Husnain Shahid Shanghai JiaoTong





Aero Pendulum, PID, SMC, Control Desk, dSPACE, Real-Time.


dSPACE is a real-time platform based on software and hardware in loop with MATLAB/Simulink. The real-time environment provides us a visual way to understand the actual real-time behaviour of the designed controller. This paper proposed a method to better understand the behaviour of a different de-signed controller in a real-time environment during learning. For application-specific we designed a pitch control hardware model for aero pendulum using single brushless dc motor (BLDC), position encoder and H-bridge in loop with MATLAB/Simulink and dSPACE hardware box. Different controllers (Proportional integral derivative (PID) and sliding mode controller (SMC)) are designed, then implemented to check its behaviour on the designed hardware in real-time. The performance is evaluated using overshoot, rise time, settling time peak time and disturbance rejection. Using the control desk software Graphics user interface (GUI) is developed not only to continuously monitor the behaviour but also to make changes into the system conditions during real-time.



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