Hello there
I'm working in an issue of ACO (ant colony optimization) for PID tunning and I want to apply this algorithm to tune the PID for DANI's (ROBOTIC STARTER KIT) Motors control.
1st I have done the ACO using MATLAB using m- file and during the file in a loop it calls a simulink file for simulation and subsitiuting with P I and D , till the algorithm ends and the optimal P I D is found, in the simulink I used a data for real motor from internet.
Now I want to apply this idea to DANI
so that I need to apply in the loop the P I D to the target VI ( containing a loop with PID controller for the KIT ) and then get the results to the loop again to complete my optimization code.
really I know about Mathscript RT module and Matlab script for Labview or to convert the m code to labview code
but I'm not so good in labview coding for loops and so.
when I tried to use the MATLAB script for RT module I stuck with the issue of sending the P I D values in any iteration to the target VI, as the mathscript or MATLAB script wants to complete the whole loop and deliver the PID values...
I know its is some simple problem but I'm stuck...
another way: I'm thinking to identify the DANI as a transfer function and apply it to my simulink
and I found an IEEE paper saying that the robot's has been identified with a T.F, but when I use this T.F and create a Z-N PID using forexample MATLAB SISO, then I apply it to the real KIT, the results are nonsense
please help me... thanks