PSE simulation environment for the real-time simulation and control of mechatronic systems
Peter Fabo, Martin Skovajsa, Ľubomír Pepucha · International Conference on Mechatronics - Mechatronika · 2016
PSE is a multiplatform simulation environment developed in Python programming language using graphic framework Kivy [1] and Numpy and Scipy [2] libraries. The environment is capable of designing simulation diagrams of mechatronic systems interactively and is capable of solving linear and nonlinear PDE using function blocks and their connections, similarly to Simulink and Scilab-Xcos environments. The difference between mentioned applications and PSE is in separating the graphical visualization subsystem from the analysis model, which allows connection of the model with the real world. This allows developing hybrid simulation models, in which sensors and active parts are a real hardware components connected using suitable communication interface. Data processing algorithm and control is realized by a diagram in the PSE environment. The control algorithm can be modified interactively in a visual form without need of time consuming programming and debugging. Response rate, respectively bandwidth of hybrid system, is given by complexity of the model and the throughput rates of a communication interfaces.