[ Configuration d’une Raspberry Pi comme Serveur et Co-simulation avec un Client Socket pour la Téléopérabilité Optimale d’un Processus Dynamique Asservi par Régulation Quadratique Linéaire avec Poursuite ]
Volume 35, Issue 2, January 2022, Pages 385–400
Manga Betene Ignace Fabrice1, Paune Felix2, Mbihi Djoumessi Markov3, and Nneme Nneme Leandre4
1 Research Laboratory of Computer Science Engineering and Automation, Enset, University of Douala, Cameroon
2 Research Laboratory of Computer Science Engineering and Automation, Enset, University of Douala, Cameroon
3 Research Laboratory of Computer Science Engineering and Automation, Enset, University of Douala, Cameroon
4 Research Laboratory of Computer Science Engineering and Automation, Enset, University of Douala, Cameroon
Original language: French
Copyright © 2022 ISSR Journals. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
In this paper, we present a system for controlling the angular velocities of the motors of a 2WD mobile robot using an optimal Linear Quadratic Regulator with Tracking (LQRT), thanks to a Co-simulation between two Raspberry Pi modules and the MATLAB R2018a software. Indeed, we have a system made up of a certain number of elements, notably a web interface for communication with users, a Raspberry Pi 4 Model B module that we have configured as a server and a Raspberry Pi 3 Model B module that plays the role of a socket client who’s physical GPIOs are represented in an identical logical manner on Simulink in order to facilitate interaction with the process modelled in MATLAB R2018a. This system has been realized thanks to a combination of various software technologies such as the python flash framework for the development of the web application, the HTML and CSS programming languages for the client side of our user application, the library written in C language SQLite for the relational database engine accessible by the SQL language, the JavaScript library Socket. IO library for real-time bidirectional communication between clients and servers, the Python Threading library to facilitate the execution of parallel processes and the python RPI library to control the GPIO ports of the Raspberry Pi 3. The speed control simulation results on a 2WD mobile robot in both normal and Co-simulation modes show almost identical performance indices.
Author Keywords: Co-simulation, Raspberry Pi, GPIO, 2WD mobile robot, LQRT control.
Volume 35, Issue 2, January 2022, Pages 385–400
Manga Betene Ignace Fabrice1, Paune Felix2, Mbihi Djoumessi Markov3, and Nneme Nneme Leandre4
1 Research Laboratory of Computer Science Engineering and Automation, Enset, University of Douala, Cameroon
2 Research Laboratory of Computer Science Engineering and Automation, Enset, University of Douala, Cameroon
3 Research Laboratory of Computer Science Engineering and Automation, Enset, University of Douala, Cameroon
4 Research Laboratory of Computer Science Engineering and Automation, Enset, University of Douala, Cameroon
Original language: French
Copyright © 2022 ISSR Journals. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Abstract
In this paper, we present a system for controlling the angular velocities of the motors of a 2WD mobile robot using an optimal Linear Quadratic Regulator with Tracking (LQRT), thanks to a Co-simulation between two Raspberry Pi modules and the MATLAB R2018a software. Indeed, we have a system made up of a certain number of elements, notably a web interface for communication with users, a Raspberry Pi 4 Model B module that we have configured as a server and a Raspberry Pi 3 Model B module that plays the role of a socket client who’s physical GPIOs are represented in an identical logical manner on Simulink in order to facilitate interaction with the process modelled in MATLAB R2018a. This system has been realized thanks to a combination of various software technologies such as the python flash framework for the development of the web application, the HTML and CSS programming languages for the client side of our user application, the library written in C language SQLite for the relational database engine accessible by the SQL language, the JavaScript library Socket. IO library for real-time bidirectional communication between clients and servers, the Python Threading library to facilitate the execution of parallel processes and the python RPI library to control the GPIO ports of the Raspberry Pi 3. The speed control simulation results on a 2WD mobile robot in both normal and Co-simulation modes show almost identical performance indices.
Author Keywords: Co-simulation, Raspberry Pi, GPIO, 2WD mobile robot, LQRT control.
Abstract: (french)
Dans cet article, nous présentons un système d’asservissement des vitesses angulaires des moteurs d’un robot mobile 2WD effectué par un correcteur optimal Régulateur Quadratique Linéaire avec Poursuite (RQLP), grâce une Co-simulation entre deux modules Raspberry Pi et le logiciel MATLAB R2018a. En effet, nous disposons d’un système constitué d’un certains nombres d’éléments notamment une interface web pour la communication avec les utilisateurs, un module Raspberry Pi 4 Model B que nous avons configuré comme serveur et un module Raspberry pi 3 Model B qui joue le rôle de client socket dont les GPIO physiques sont représentées de manière logique identique sur Simulink afin de favoriser l’interaction avec le processus modélisé sous MATLAB R2018a. Ce système a été réalisé grâce à une combinaisons de diverses technologies logicielles à l’instar du Framework python flash pour le développement de l’application web, des langages de programmation HTML et CSS pour le coté client de notre application utilisateur, la bibliothèque écrite en langage C SQLite pour le moteur de base de données relationnelle accessible par le langage SQL, la bibliothèque JavaScript Socket.IO pour la communication bidirectionnelle en temps réel entre les clients et les serveurs, la bibliothèque Python Threading pour faciliter l’exécution des processus en parallèles et la bibliothèque python RPI pour contrôler les ports entrées/sorties GPIO de la Raspberry Pi 3. Les résultats de simulation de l’asservissement en vitesses effectués sur un robot mobile 2WD en mode normal comme en Co-simulation nous révèlent des indices de performance pratiquement identique.
Author Keywords: Co-simulation, Raspberry Pi, GPIO, Robot mobile 2WD, Correcteur RQLP.
How to Cite this Article
Manga Betene Ignace Fabrice, Paune Felix, Mbihi Djoumessi Markov, and Nneme Nneme Leandre, “Configuration of a Raspberry Pi as a Server and Co-Simulation with a Socket Client for Optimal Teleoperability of a Dynamic Servo Process by Linear Quadratic Control with Tracking,” International Journal of Innovation and Applied Studies, vol. 35, no. 2, pp. 385–400, January 2022.
