A framework for transferring algorithms designed on matlab/simulink to arm microcontroller embedded systems

Abstract

Recently, demand of implementation stand-alone embedded systems has increased sharply. This article represents a method for building a framework that can implement control algorithms designed on Matlab/Simulink to embedded sysems. An inverted pendulum stabilizing controller, running on a STMicroelectronics low-cost STM32F4 Discovery development kit, is used as a demonstration. The control algorithm, after designed and simulated on Matlab/Simulink, is configured to generate the corresponding embedded C code by using Matlab Realtime Embedded Coder. This code is combined with microcontroller peripheral libraries to make a complete Keil C project. In this project, the C language main function is generated automatically by using TLC – Target Language Compiler; however, users must write additional code to complete the whole coding. Experimental results of the demonstrative algorithm show that by using the proposed framework the control algorithm only has 0.001 ms of sample time error. Response quality of the inverted pendulum is as good as simulation results in term of fast response, low overshot and steady error.