Hello everyone, I’m Enrica. For a university project I have a task consisting on modeling on simulink three robots of which one leader and two followers. In the first scenario the robot has to follow a linear trajectory while in the second one the trajectory to follow is circular. In both scenarios the robots must start from different positions. For what concern the initial position of the robots, through the delay present in the loops, I tried to set the initial conditions inside the delay block but there is something that doesn’t work. The robots are described through a space-state block on both x and y axes and they are controlled by two different discrete PID, the internal one controls the velocity (that must be mantained constant) while the external one regulates the position. I tried to model the trajectories using the matlab function block and I tuned the PID with the "tune" button. Plotting the robots on the XY graph they don’t follow each other and I’m not able to identify where is the problem, if it’s related to the structure and connections of the simulink scheme or if it’s related to the space-state block or PID settinggs.
For a better understanding, attached you can find simulink and matlab codes (matlab versione R2023A).
Thank you to those who can help meHello everyone, I’m Enrica. For a university project I have a task consisting on modeling on simulink three robots of which one leader and two followers. In the first scenario the robot has to follow a linear trajectory while in the second one the trajectory to follow is circular. In both scenarios the robots must start from different positions. For what concern the initial position of the robots, through the delay present in the loops, I tried to set the initial conditions inside the delay block but there is something that doesn’t work. The robots are described through a space-state block on both x and y axes and they are controlled by two different discrete PID, the internal one controls the velocity (that must be mantained constant) while the external one regulates the position. I tried to model the trajectories using the matlab function block and I tuned the PID with the "tune" button. Plotting the robots on the XY graph they don’t follow each other and I’m not able to identify where is the problem, if it’s related to the structure and connections of the simulink scheme or if it’s related to the space-state block or PID settinggs.
For a better understanding, attached you can find simulink and matlab codes (matlab versione R2023A).
Thank you to those who can help me Hello everyone, I’m Enrica. For a university project I have a task consisting on modeling on simulink three robots of which one leader and two followers. In the first scenario the robot has to follow a linear trajectory while in the second one the trajectory to follow is circular. In both scenarios the robots must start from different positions. For what concern the initial position of the robots, through the delay present in the loops, I tried to set the initial conditions inside the delay block but there is something that doesn’t work. The robots are described through a space-state block on both x and y axes and they are controlled by two different discrete PID, the internal one controls the velocity (that must be mantained constant) while the external one regulates the position. I tried to model the trajectories using the matlab function block and I tuned the PID with the "tune" button. Plotting the robots on the XY graph they don’t follow each other and I’m not able to identify where is the problem, if it’s related to the structure and connections of the simulink scheme or if it’s related to the space-state block or PID settinggs.
For a better understanding, attached you can find simulink and matlab codes (matlab versione R2023A).
Thank you to those who can help me simulink MATLAB Answers — New Questions

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