Control and design applying ramp input and plotting polar coordinates state space

Hi
I am trying to do a fairly simple state space task with Control Design and Simulation toolbox, however I am quite new at using this toolbox and need some help :-)
I want to simulate a MIMO system of a 2-DOF robot arm. The robot arm consists of two links, the first link can rotate arround its origo at its end, and the next link moves inside the first link, in and out.
So the two outputs is define as
r (radius), which is the distance to the end-effector of the robot, and
theta, which is the angular postion of the robot arm
FYI, the two inputs are the currents send to the two motors controlling each link.
I have set up A, B, C and D matrices in the attached VI file and putted it inside a simulation loop.
Now I need help :-)
I want to simulate the system when a ramp input is applied to the two inputs and plot the two outputs in a polar graph to show the end-effectors position when the system is just "let loose". The result should be a spiral (this is verified in MATLAB simulink).
So please, I need help setting up the VI to do the above, can anyone help?
Best regards
Simon
MSc. Eng.
Message Edited by SCMAJA on 10-16-2009 11:21 AM
LabVIEW 8.6 / 2009 / 2010
Vision Development Module 8.6 / 2009 / 2010
VBAI 3.6 / 2010
Attachments:
2 DOF robot with ramp input, polar coordinates plot, state space.vi ‏49 KB

Hello Simon,
The error comes from your Ramp Input. Since your system is MIMO, you would need to feed in a vector input to the system.
I've changed your VI and attached here~!
Andy Chang
National Instruments
LabVIEW Control Design and Simulation
Attachments:
MIMO Robot VI.vi ‏76 KB

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Ow. Someone is grumpy today.
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Edited by: paulcw on Jun 15, 2010 4:09 PM

Number Scrolling Out of Control When I Try to Set Dimensions Of New Design - Elements 8, 9, and 10!

i'm really hoping someone can help me with this, as i really need to be able to access elements for my online business. i currently use a macbook pro (newish within the last 2 years) and have used photoshop elements 8, 9, and most recently even 10 and the same thing keeps happening...they will work fine for a while and then all of a sudden i will go to enter the size dimensions of a new design and the numbers in the dialog box will just start scrolling like crazy. for instance if i try to set the dimension to 5x7 inches and enter the number 5 into the width box, it will (all on its own, like it's possesed!) scroll to the number 10 and then scroll back down to the number 0 and it will continue to do this whenever i try to enter a number. however, it will allow me to use photoshop element's custom presets, such as US letter size (8.5x11) etc. just wont' allow me to enter a "custom" size. this same scrolling occurs when i try to save a file as a jpeg, if i try to save it at number 12 "maximum" quality, it will scroll down to the number 0 and the quality box (low medium maximum) will scroll through those choices as well.....i hope this makes sense. i haven't been able to find much about this issue. the only thing i could find suggested deleting the "preferences settings" by pressing "command, option, shift" upon launching the program, which i've done several times and it doesn't solve the issue. also, versions 9 and 10 are both downloaded "trial" versions of the program, but version 8 was a hardcopy disc that i bought myself a couple of years ago and the same issue eventually happens to all of them. PLEASE HELP!!!! i would really appreciate it, thanks!

hi barbara
thank you for your response, i appreciate it. there's definitely nothing wrong with the mouse or trackpad, both work fine in every other application....i can also easily change size dimensions in other programs on my computer so it doesn't seem to be that either. it seems like there is something weird going on in the way that pse and my mac are interacting with each other, just wish i knew what it was. thank you again, wish me luck!

I am trying to design a VI that will identify the position of any overshoots and undershoots from an input array of 100 elements

I am trying to design a VI that will identify the position and number of all overshoot and undershoot values. I have been trying for the past three weeks to solve this problem but I am having difficulty with the output arrays which will store the overshoot/undershoot values. I am using a for loop but when I connect the array indicator the wire from the o/p tunnel to the array indicator shows an errror? Any help would be greatly appreciated
Regards,
Kadeel

Hi Kadeel,
what error do you get? What happens when you right-click the loop output and select Create->Indicator?
Why not attach your vi, that you have been working on for 3 weeks?
Best regards,
GerdW
CLAD, using 2009SP1 + LV2011SP1 + LV2014SP1 on WinXP+Win7+cRIO
Kudos are welcome

I am trying to use a SC-2024-RTD DAQ board to do 3 things (monitor two sensors (input) and control a small motor (output)) simultaneously. I have not been successful using labview for output. I can't even get it to show a voltage at the output pins.

I have it configured for voltage modulation, channel 0, and I am testing Ix0+ and Ix0-. To run it, I am right-clicking on the function and clicking "test". What's wrong?
thanks, Alex Millie
[email protected]

Ix0(+/-) are make the excitation current. You can see this in figure 4-1 in the user manual. You can see the output voltage from the MIO card by looking at the voltage from terminal 23 to terminal 20 (channel 0) and terminal 23 to terminal 21 (channel 1). You can see this pinout on page 3-5 of the SC-2042-RTD user manual.

Ask the Expert: Hierarchical Network Design, Includes Core, Distribution, and Access

Welcome to the Cisco® Support Community Ask the Expert conversation. This is an opportunity to learn and ask questions about hierarchical network design.
Recommending a network topology is required for meeting a customer's corporate network design needs in their business and technical goals and often consists of many interrelated components. The hierarchical design made this easier like "divide and conquer" the job and develop the design in layers.
Network design experts have developed the hierarchical network design model to help to develop a topology in discrete layers. Each layer can be focused on specific functions, to select the right systems and features for the layer.
A typical hierarchical topology is
A core layer of high-end routers and switches that are optimized for availability and performance.
A distribution layer of routers and switches that implement policies.
An access layer that connects users via lower-end switches and wireless access points.
Ahmad Manzoor is a Senior Pre-Sales Engineer at AGCN, Pakistan. He has more than 10 years of experience in first-rate management, commercial and technical skills in the field of data communication and services lifecycle—from solution design through sales pitch, designing RFPs, architecture, and solution—all with the goal toward winning projects (creating win/win situations) of obsolete solutions. Ahmad also has vast experience in designing end-to-end data centers, from building infrastructure design to data communication and network Infrastructure design. He has worked for several large companies in Pakistan and United Arab Emirates markets; for example, National Engineer, WATEEN Telecom, Emircom, Infotech, Global Solutions, NETS International, Al-Aberah, and AGCN, also known as Getronics, Pakistan.
Remember to use the rating system to let Ahmad know if he has given you an adequate response.
Because of the volume expected during this event, Ahmad might not be able to answer every question. Remember that you can continue the conversation in the Solutions and Architectures under the sub-community Data Center & Virtualization, shortly after the event. This event lasts through August 15, 2014. Visit this forum often to view responses to your questions and the questions of other Cisco Support Community members.

Dear Leo,
We are discussing the following without any product line, discussing the concept of hierarchical design, which will help you to take decision which model is better for you Two Layer or Three Layer hierarchical model.
Two-Layer Hierarchy
In many networks, you need only two layers to fulfill all of the layer functions—core and aggregation
Only one zone exists within the core, and many zones are in the aggregation layer. Examine each of the layer functions to see where it occurs in a two-layer design:
Traffic forwarding—Ideally, all interzone traffic forwarding occurs in the core. Traffic flows from each zone within the aggregation layer up the hierarchy into the network core and then back down the hierarchy into other aggregation zones.
Aggregation—Aggregation occurs along the core/aggregation layer border, allowing only interzone traffic to pass between the aggregation and core layers. This also provides an edge for traffic engineering services to be deployed along.
Routing policy—Routing policy is deployed along the edge of the core and the aggregation layers, generally as routes are advertised from the aggregation layer into the core.
User attachment—User devices and servers are attached to zones within the aggregation layer. This separation of end devices into the aggregation permits the separation of traffic between traffic through a link and traffic to a link, or device. Typically, it is best not to mix transit and destination traffic in the same area of the network.
Controlling traffic admittance—Traffic admittance control always occurs where user and server devices are attached to the network, which is in the aggregation layer. You can also place traffic admittance controls at the aggregation points exiting from the aggregation layer into the core of the network, but this is not common.
You can see, then, how dividing the network into layers enables you to make each layer specialized and to hide information between the layers. For instance, the traffic admittance policy implemented along the edge of the aggregation layer is entirely hidden from the network core.
You also use the core/aggregation layer edge to hide information about the topology of routing zones from each other, through summarization. Each zone within the aggregation layer should have minimal routing information, possibly just how to make it to the network core through a default route, and no information about the topology of the network core. At the same time, the zones within the aggregation layer should summarize their reachability information into as few routing advertisements as possible at their edge with the core and hide their topology information from the network core.
Three-Layer Hierarchy
A three-layer hierarchy divides these same responsibilities through zones in three vertical network layers,
Traffic Forwarding—As with a two-layer hierarchy, all interzone traffic within a three- layer hierarchy should flow up the hierarchy, through the layers, and back down the hierarchy.
Aggregation—A three-layer hierarchy has two aggregation points:
At the edge of the access layer going into the distribution layer
At the edge of the distribution layer going into the core
At the edge of the access layer, you aggregate traffic in two places: within each access zone and flowing into the distribution layer. In the same way, you aggregate interzone traffic at the distribution layer and traffic leaving the distribution layer toward the network core. The distribution layer and core are ideal places to deploy traffic engineering within a network.
Routing policy—The routing policy is deployed within the distribution layer in a three- layer design and along the distribution/core edge. You can also deploy routing policies along the access/distribution edge, particularly route and topology summarization, to hide information from other zones that are attached to the same distribution layer zone.
User attachment—User devices and servers are attached to zones within the access layer. This separation of end devices into the access layer permits the separation of traffic between traffic through a link and traffic to a link, or device. Typically, you do not want to mix transit and destination traffic in the same area of the network.
Controlling traffic admittance—Traffic admittance control always occurs where user and server devices are attached to the network, which is in the access layer. You can also place traffic admittance controls at the aggregation points along the aggregation/core edge.
As you can see, the concepts that are applied to two- and three-layer designs are similar, but you have more application points in a three-layer design.
Now the confusion takes place in our minds where do we use Two Layer and where the Three layer hierarchical model.
Now we are discussing that How Many Layers to Use in Network Design?
Which network design is better: two layers or three layers? As with almost all things in network design, it all depends. Examine some of the following factors involved in deciding whether to build a two- or three-layer network:
Network geography—Networks that cover a smaller geographic space, such as a single campus or a small number of interconnected campuses, tend to work well as two-layer designs. Networks spanning large geographic areas, such as a country, continent, or even the entire globe, often work better as three layer designs.
Network topology depth—Networks with a compressed, or flattened, topology tend to work better as two-layer hierarchies. For instance, service provider networks cover large geographic areas, but reducing number of hops through the network is critical in providing the services they sell; therefore, they are often built on a two-layer design. Networks with substantial depth in their topologies, however, tend to work better as three-layer designs.
Network topology design—Highly meshed networks, with many requirements for interzone traffic flows, tend to work better as two-layer designs. Simplifying the hierarchy to two levels tends to focus the design elements into meshier zones. Networks that focus traffic flows on well-placed distributed resources, or centralized resources, such as a network with a large number of remote sites connecting to a number of centralized Data Centers, tend to work better as three-layer designs.
Policy implementation—If policies of a network tend to focus on traffic engineering, two-layer designs tend to work better. Networks that attempt to limit access to resources attached to the network and other types of policies tend to work better as three-layer designs.
Again, however, these are simple rules of thumb. No definitive way exists to decide whether a network should have two or three layers. Likewise, you cannot point to a single factor and say, “Because of this, the network we are working on should have three layers instead of two.”
I hope that this helps you to understand the purposes of Two Layer & Three layer Hierarchical Model.
Best regards,
Ahmad Manzoor

How to Create a Rich Dynamic Input and Output PDF to insert and get data into, from Database (MSSQL)

HI ,
I want to use Adobe LiveCycle Designer and Adobe LiveCycle Workbench features to create a Dynamic PDF form which can allow me to store data into database(MSSQL Server) and Can also provide me the Output PDF form with all the information which has been been filled in by the User in input form. Both Input and Output forms must be Dynamic. I am stuck in this process and Need Experts Advice on the Complete optimal process flow of the Adobe.
Regards
Ritesh Grover

HI
Go to the lay out of your screen and doublr click on the table control fields, you can get the Properties/Attribute of the screen or table control Fields
Assing a Group GRP1 for all the fields i n the table control.
in PBO
if ok_code = 'INPUT'.
LOOP AT SCREEN.
IF screen-grp1 = 'GRP1'.
screen-input = 1.
modify screen.
endif.
ENDLOOP.
elseif ok_code = 'OUTPUT'.
LOOP AT SCREEN.
if screen-grp1 = 'GRP1'.
screen-input = 0.
modify screen.
endif.
endloop.
endif.
Regards
Ramchander Rao.K
Edited by: Ramchander Krishnamraju on Aug 8, 2009 5:27 AM

Control and design applying ramp input and plotting polar coordinates state space

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