Design of Tracked Model Vehicle Measurement and Control System Based on VeriStand and Simulink

摘要

This paper presents the composition and working principle of the hardware and software of the measurement and control system based on VeriStand and Simulink for a tracked model vehicle. The hardware of the system is composed of a CompactRIO controller and acquisition cards, torque/speed sensors and a gyroscope. The vehicle control logic model and data processing model are built in Matlab/Simulink. VeriStand is adopted to manage models and interact with people. The system can control motor speed on both sides of the vehicle and collect data such as sprocket torque and speed, vehicle attitude on real-time. At last, we test and verify the system can work successfully.