Introduction To MBSD - Notes

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Introduction to Model-Based
System Design
Lecture 1 Lecture 1
MBD
Model-Based-System Design re-engineers the
traditional development process from one which
is paper-based to one that uses an executable
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model that is the repository for all information
about the concept, design, and implementation.
The model is used throughout the four stages of
development: Research, Design,
Implementation, and Verification & Validation. At
each stage of development the model is updated each stage of development the model is updated
and elaborated ensuring continuity and
traceability throughout the evolution of the
design.
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Copyright (c) 2013 by Marc E. Herniter and Zac Chambers.
This work is made available under the terms of the Creative Commons Attribution-ShareAlike 3.0 license,
http://creativecommons.org/licenses/by-sa/3.0/.
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What is Model-Based-System Design?
In its most basic form, Model-Based-
System Design is the use of models to
describe the specifications operation and
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describe the specifications, operation, and
performance of a component or a system
of components.
Instead of listing specification in a text
document, a model is used that
f implements the specifications, operation,
and performance of components.
Models can be shared with other
engineers:
Engineers do not have to generate their own
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Engineers do not have to generate their own
models from text specifications.
Same model can be used by several
engineers at several different levels in the
design process.
Component models can be used in larger Component models can be used in larger
systems.
Models supplied by manufacturers accurately
reflect the performance of their components.
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Old Method Text Documents
Text documents are used to describe the
performance of a component.
Example: 12V to 5 V DC DC Converter
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Example: 12V to 5 V DC-DC Converter
12 V power is readily available in vehicle
environments.
5V supplies are needed to power the
Navigation/Infotainment system.
% ff Power conversion is less that 100% efficient.
Electrical Specifications
Input Voltage: 9V to 18 V
Output Voltage: 5V
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Output Voltage: 5V
Output Ripple: 50 mV
Output Current: 0A to 8A
Efficiency: 86%
Derating:
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Thermal Specifications
Case to Ambient Thermal Resistance:
1
C/Watt
7
1 C/Watt
Case to Sink Thermal Resistance
0.03
C/Watt
Heat Capacity: 300 J/
C
Heat Sink Thermal Resistance:
0 91

C/Watt (Natural Convection) 0.91
C/Watt (Natural Convection)

0.150
C/Watt (50 CFM Forced Air Convection)

0.105

0.068

Model-Based-System Design
Create a model that implements all of
these specifications:
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Model-Based-System Design
This model can:
Contain much more detail than written
specifications.
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specifications.
Contain behavioral characteristics such as:
Voltage cutback during over current event.
Thermal cutback and power derating.
Can be shared among engineers working in
different areas and at different levels of the different areas and at different levels of the
design process.
Model-Based-System Design allows us to
uses models throughout the entire design
process:
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process:
Simulation using Simulink (SIL)
Not real-time
Develop detailed plant model.
Develop a system controller.
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Real-Time Simulations
Determine how the systems responds in real-
time.
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time.
Good for human-system interaction.
Additional debugging.
Targeting
Implement the controller developed and debugged in
SIL and Real-Time simulations on a hardware target
(embedded controller)
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(embedded controller).
Most logic errors have been removed.
Errors occur if model is inaccurate.
Use automatic Code Generation (Skip the computer
engineering guy!)
Still need to know something about digital systems and
microcontrollers. c oco t o e s
Eliminates the errors introduced when involving an engineer
to manually program the controller.
Allows the engineers with the physical understanding of the
system to do the logic development and programming.
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Hardware in the Loop (HIL) Simulations
Real-time.
Controller implemented on our Target
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Controller implemented on our Target.
Plant implemented on a real-time system.
Hardware in the Loop (HIL) Simulations
Same physical interface as in actual system.
Smoke-free testing of the controller
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Smoke-free testing of the controller.
Tests:
Controller logic.
Controller speed and processing power.
Physical interface.
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Controller deployment
Given accurate models and a consistent
interface, we can just plug in the controller to
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interface, we can just plug in the controller to
our plant.
It should work perfectly the first time. (Not)
It should work reasonable well, but we will
notice that the plant model may have
inaccuracies inaccuracies.
Typically we will need to modify the plant and
controller to account for the differences.
Verification and Validation
SIL, HIL, PIL are forms of V&V
Design a set of repeatable tests
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Design a set of repeatable tests.
Run tests, measure results.
Determine pass/fail status.
Collect Data
Improve models.
Repeat the same tests each time we make a Repeat the same tests each time we make a
change to the controller or plant.
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Systems Design
Model Based Design of a Model-Based Design of a
Motor-Generator System
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This portion of the
circuit will be used
in our Model-Based
Systems Design
solution.
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Proportional Feedback
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Model-Based Design Solution
Create Plant and Controller Models
Motor and Generator Models
P and PI Controllers
Simulate with Simulink
Real-Time Simulations with xPC
Implement Controller on Freescale
MPC55xx Real-Time Target
Test
Improve Model and Controller
Repeat
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Goal: Design
Embedded
Controller for
the System the System
Freescale
MPC55xx MPC55xx
Development
Board
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Simulation Fallacy
Simple system models are worthless
You must start with:
All component nonlinearities and limitations All component nonlinearities and limitations
Every function the model will perform
Simulation Fallacy
The first time we run a simulation of this
type the following will occur:
It does not work
Users have no idea why
It has convergence errors, logic errors, or
improper component behavior
Users have no idea why
It runs but the output is obviously wrong
U h id h Users have no idea why
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Modeling Building Philosophy
Start with simple component models
Understand simple component operation
Develop a simple controller
Anticipate expected system output
Verify that output matches expectation
Add a single function to the model and
Modeling Building Philosophy
g
Understand the effect on the
Component
System
Controller
Anticipate the expected system output Anticipate the expected system output
Verify that output matches expectation
Repeat as needed
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Course Overview
Model-Based Design for a small system
Simulink Simulations
Real-time simulations with xPC
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Implement controller on MPC5553 or MPC5554 target
Hardware In The Loop Real-Time Simulations
Test controller on real system
Model Verification and Validation
Design of Experiments to Collect Experimental Data on
Motor and Generator Motor and Generator
Model Refinement and Re-Verification
Further Exploration of Alternate Control Methods as
Time Permits
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Systems Design
Lecture 2 : Model Building with Simulink Lecture 2 : Model Building with Simulink
Presentation Outline
Intro to Simulink via Unit Converter
Model-Based System Design
M d l Hi h
2
Model Hierarchy
Plant Model Motor
Plant Model Generator
Plant Model Shaft Encoder
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Intro to SimXYZ
Simulink is an extensive collection of
libraries which enable you to link specific
blocks to develop simulations
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Libraries include
Mathematical operations
Differential equations
Continuous/discrete functions
Scopes Scopes
Many more!
Intro to SimXYZ
Fire up Matlab and at
the command line type
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simulink
You should get a new
window similar to that at
right.
Take two minutes to
explore all the different explore all the different
libraries and associated
blocks!
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Intro to SimXYZ
Click on the
Create New
Model Icon
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You should get a
new model
window.
Save it as
unit_convert.mdl
You might not
have these
files
Model name
specified
here.
Intro to SimXYZ
Commonly Used Blocks
Constant
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Gain
Sinks
Display
Left click on the
Constant and drag it
into the model window into the model window
Repeat for the Gain
and the Display
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Intro to SimXYZ
Place mouse
over the
Constant output
port (>) left
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port (>), left
click, and drag
to the Gain input
port (>)
A wire with an
arrow will link
th t bl k
Constant
Out
Gain In
the two blocks
Link the Gain
and Display
blocks using the
same method.
Intro to SimXYZ
Click on the
text Constant
8
and change it
to rpm
Change the text
Gain to
rpm -> rad/s
Right click on Right click on
the text
Display, select
Format, and
Hide Name
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Intro to SimXYZ
Double click on the
Constant (rpm) block
and change the value
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and change the value
from 1 to 1800.
Click the OK button.
Double click on the Gain
(rpm -> rad/s) block and
change the value from 1
to (2*pi)/60.
1 becomes 1800
( p)
Intro to SimXYZ
The value of the
gain is now K the
block is not big
enough to display
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* indicates changes to the
model since it was last saved.
g p y
the actual value.
Left click on the
block, then grab a
handle and drag it to
make the block
larger.
Save your file.
Note that the
asterisk on the
filename goes away
when it is saved.
* no longer here, indicating that
file was saved.
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Intro to SimXYZ
Run the model by
left clicking the
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Run button.
A value of 1800
rpm is converted
to 188.5 rad/s.
You have
mastered the mastered the
basics of
Simulink!
Lecture 2 Exercise 1a
Design a converter that converts a speed of 60 miles per hour to kilometers per hour.
Make the following format changes to your blocks:
All text should be displayed in bold.
Constant Block Properties:
Block text changed to Speed (mph)
Font: Arial 16
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Font: Arial 16.
Text and block outline color is blue.
The block has a drop shadow.
Block fill color is yellow.
Gain block properties
Block text changed to mph kph
Font: Arial 12.
Text and block outline color is red.
Block fill color is light blue.
Display block properties:
Block text changed to Speed (kph)
Font: Arial 18.
You solution should look as shown:
Demo___________
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Lecture 2 Exercise 1b
Use Simulink to calculate how far a vehicle moving at 60
mph would travel in 100 seconds. Provide an answer in
both miles and in kilometers.
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Answers: 1.667 miles, 2.682 km.
Demo___________
High-Level System
Our plan is now to use Simulink to build a model
of the plant and controller
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p
Plant : Motor, Generator, Shaft Encoder
Controller: P or PI
Plant Input : Light bulb load
Controller Input : Generator speed
We will build a very simple plant first. y p p
We are aiming for the following system:
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High Level System
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Plant
Controller
Input
Plant
Input
Feedback Loop
Controller
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To build our plant (and controller), we will use
MBSD
Start with simple component models
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Anticipate the appropriate system responses
Verify the model works correctly
Make ONE improvement
Understand effect on model
Make ONE improvement
Understand effect on model
Repeat
We shall employ Model Hierarchy to
represent plant components
Subsystems will contain the physical model
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Subsystems will contain the physical model
for each component
Subsystems may contain subsystems that
represent functionality
We will also use SimDriveline to handle
th ki ti d ki ti f t the kinetics and kinematics of our system
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MBSD Model Hierarchy
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Motor
Shaft Encoder
Generator
MBSD
Before we tackle the plant, lets build the
top-level model found on slide 15
Open a new model file and save it as
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Ope a e ode e a d sa e as
Lecture2_Model1.mdl
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System Model
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Toggle the model
browser to show
the subsystems
System Model
From Commonly Used Blocks, drag two
Subsystem Blocks into your model
R th b t C t ll
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Rename the one subsystem Controller,
and the other Plant
In the Model Browser window, left click on
the Plant subsystem.
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System Model
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Left-click here.
Plant Model
Our plant is not very exciting it has an
input and an output with nothing in
between
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between
Delete the arrow connecting the input and
output and add three more subsystems to
represent the generator, motor, and shaft
encoder
Make your model look like the next slide
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Plant Model
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Right click
Select Format
Select Flip Name
Fantastic you have got the pieces to build Fantastic, you have got the pieces to build
the plant
Lets build a simple motor left click on
Motor in the Model Browser
Motor
The motor we are modeling is a Pacific
Scientific model 4VM62-020-4 with the
following name plate specs:
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following name plate specs:
Torque Constant: 30 Oz-in per Amp
Max Current: 8 Amps
Our driver will limit the motor to about 4
amps maximum.
The max torque our motor will produce is
120 Oz-in.
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Motor
SimDriveline uses MKS units so we need
to convert our torque to Nm.
The conversion factor is one Oz In=
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The conversion factor is one Oz-In =
0.007062 Nm.
Note that the maximum torque of our
motor is 120 Oz-in = 0.85 Nm.
Plant Model - Motor
Our motor will operate by
Receiving a 0-100% max torque request from
the controller
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Multiplying this request with the motors max
rated torque (0.85 Nm)
Drag a gain into the motor subsystem
Rename the In1 to Torque Request
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Plant Model - Motor
We have created an ideal motor with
Variable torque from 0 to max rated value.
No rpmlimits
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No rpm limits.
No energy conversion inefficiencies.
No frictional losses.
Torque is independent of rpm.
This is a terribly inaccurate model, but it is y
an easy to understand first step.
Plant Model - Motor
Now we need to apply
the motor torque to a
drive line.
U Si D i li
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Use SimDriveline
A Simulink physical library
set for modeling dynamics
Kinetics and kinematics
are built in
Plug & Play!
Fromthe Simscape From the Simscape
library, go to
SimDriveline / Sensors
& Actuators and select
Torque Actuator
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Plant Model - Motor
Drag a Torque Actuator into the motor
model
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It converts a Simulink signal to a SimDriveline
signal
Link the output of the Available Current
gain block to the input of the Torque
Actuator Actuator
SimDriveline Port
can ONLY be used
with SimDriveline
blocks
Plant Model - Motor
Since the SimDriveline port
can only be used with
SimDriveline blocks
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Delete the Out1 port in the
Motor subsystem
Drag in a Connection Port
from the
SimDriveline/Utilities
library
Right click on the Port,
select Format, and then
Flip Block
Connect the Actuator to the
Port
Rename the Port to Motor
Output
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Plant Model - Motor
All rotating devices
have a mass moment
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of inertia
Drag in an Inertia
from the Solver &
Inertias library
Double click on it to
give it the actual value
of 1e 3 kg*m
2
for the of 1e-3 kg m
2
for the
motor
Connect the Inertia to
the driveline
Plant Model - Motor
Our motor model is done!
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Lecture 2 Exercise 2
Modify the motor model to use the name
plate specifications for the motors and
generators used in the lab Use the
35
generators used in the lab. Use the
following items listed on the nameplate:
Torque constant.
Rotor Inertia.
Max motor current is 6.3 amps. (Due to
current limits on the DC power supply.)
Demo___________
Plant Model
Return to the Plant level of the model
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Thats inconvenient!
Having the port on the
right would be way
better
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Plant Model - Motor
Use the Model Browser to return to the Motor
subsystem and double click on the Connection Port
(Motor Output)
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Change the Port Location from left to right
Return to the Plant subsystem and resize the Motor
subsystem block
Plant Model - Generator
Okay, lets now build a generator to be powered
by the motor
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Now is a great time to do a version change
Save your model.
Next, save the model as Lecture2_Model2.mdl
In the Model Browser, click on the Generator
We knowthat there will need to be a We know that there will need to be a
SimDriveline port to connect to the Motor add
it and rename it Mechanical Input
Delete the Simulink input and output ports.
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Our generator will operate as follows:
The Generator output is connected to a bank of 12 V
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light bulbs connected in parallel.
The bulbs are an electrical load.
As the generator spins, it generates a voltage that is
proportional to generator speed.
The voltage is applied to the load and the load draws
current. current.
To produce this current, the generator applies a
torque to the shaft in opposition to the direction of
rotation.
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Effectively, the generator is a mechanical load to
the motor that is controlled by the electrical load.
Since:
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The generator voltage is proportional to speed, and
The resistor current is proportional to voltage, and
The generator torque is proportional to current
The generator mechanical load is proportional
to the generator speed. g
Our first generator model will model the
generator as a mechanical load that is
proportional to speed
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proportional to speed.
We will model the generator so that it
achieves a maximum load torque of 1 Nm
at 3000 rpm.
There will be no user input for the load
torque. We will assume that a fixed
number of bulbs are turned on.
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Drag the following into the generator
Gain
Divide
43
Divide
Torque Actuator
Motion Sensor
Inertia
Constant
Saturation
and arrange according to the next slide
Youll have to flip some blocks around
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Si l f 0 t 1
Measure generator speed.
Generator speed (rpm).
Signal goes from 0 to1 as
speed goes from 0 to 3000
rpm. Signal can be larger
than 1.
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Torque varies linearly from
0 to 1 Nm as speed goes
from 0 to 3000 rpm.
Signal goes from 0 to 1 as
speed goes from 0 to 3000
rpm. Above 3000 rpm
signal is limited to 1.
Saturation limits
set for 0
i i 1
p s g a s ted to
minimum, 1
maximum.
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47
Apply a torque in
opposition to shaft
t ti rotation.
Inertia same as
the motor.
Verify the operation of your
generator model.
Copy the Generator
subsystemto a newmodel
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Demo
subsystem to a new model.
Generate a plot of generator
load torque versus shaft
rpm.
You should obtain a plot as
shown below:
Demo___________
shown below:
You may need to add a part
called SimDriveline Env to
get your simulation to run.
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Click on the Plant in the Model Browser
2/3 of the way done!
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2/3 of the way done!
Plant Model - Encoder
Our final step is to read the shaft speed through
a shaft encoder
We will use the SimDriveline Motion Sensor to
t th Si D i li i l t Si li k
50
convert the SimDriveline signal to a Simulink
signal
Save your model
Resave your model as Lecture2_Model3.mdl
Click on the Shaft Encoder in the Model Browser
Drag in a Connection Port Drag in a Connection Port
Drag in the Motion Sensor from the Sensors &
Actuators library
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51
52
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Delete the In1 port
Rename the Connection Port to Shaft
Input
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Input
Drag in a Gain to convert rad/s to rpm
Rename the Out1 port to Encoder Output
Link everything together
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Outstanding the encoder is done!
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Plant Model Whole Plant
In the Model Browser, click on Plant
Adjust the size of the Encoder
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Adjust the size of the Encoder
Plant Model Whole Plant
Link the Motor Output to the Mechanical Input of
the Generator
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Rename In1 to Torque Request and link to the
Motor Torque Request port
Rename Out2 to Actual rpm and link to the
Encoder Output port
Link the Shaft Encoder Shaft Input to the
driveline driveline
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Plant Model Entire Plant
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Environment
We are just about ready to go but are
missing one thing
Driveline Environment
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Driveline Environment
This enables Simulink to utilize the
SimDriveline blocks
In the SimDriveline Solvers & Inertias
library, drag a Driveline Environment y g
block into your plant and connect to the
driveline
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Environment
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Necessary for all
SimDriveline models
Completed Model Demo___________
Any Questions?
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Systems Design
Lecture 3: Controller Design and Testing Lecture 3: Controller Design and Testing
Proportional Control
System Diagnostics
T ti
2
Testing
Understand the operation of a proportional
controller
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3
User Input Controller
Plant
4
Error Difference between
desired and actual response.
Amplifier error signal. Gain 0.
Input to the plant is proportional
to the difference between the
desired plant response and
actual plant response.
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Getting Started
Its time to do a version switch
Save your model.
S d l i
5
Save your model again as
Lecture3_Model1.mdl
Getting Started
Use the Model Browser to go to the top
level of your model
6
y
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Control Strategy
Our plan is to implement a proportional (P)
controller based on system speed
We would like the motor rpm to be held
7
We would like the motor rpm to be held
constant relatively independent of the
mechanical load.
This will be done by modifying the amount of
torque produced by the motor based on the
difference between the desired and actual difference between the desired and actual
motor speed.
Whole System
At the top level of your model, drag in a
Constant from the Commonly Used
Blocks library
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Blocks library
It will be the desired system speed
Double click and set its value to 1800 rpm
This will be a user input in the physical realization
(a knob).
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Controller
Open the Controller subsystem within the
Model Browser
Rename Out1 to Torque Signal
9
q g
Rename In1 to Desired rpm
Add a second In1 and rename it Actual rpm
From Commonly Used Blocks, drag in a
Sum
Gain
Saturation
Controller
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Controller
Double click on the
Sum block
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Sum block
Change the List of
signs: to |+- so that
the second signal is
subtracted
Change the second + to a -
Click OK
Controller
Double click on the
Saturation block
Change the Upper and
L li it t 1 d 0
12
Change to 1
Lower limits to 1 and 0
respectively
This allows our torque
request to go from zero
to max positive torque
Our motor cannot
Make the second + a -
Change to 1
Change to 0
produce a negative
torque.
Click OK
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Controller
Now link everything together
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Controller
The last thing to do is estimate the value
for the Gain block
Usually classic control theory tells us this
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Usually classic control theory tells us this
Were not going to do this here.
In many systems where we use Model-Based-
System Design, the systems are so
complicated that we do not have sufficient
models to do the classical analysis. models to do the classical analysis.
Use common sense, then tune
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Controller
We are looking at the difference in between
desired and actual rpm
For a gain of 1, if we are below the desired rpm
by 1 rpm, the controller will ask the motor for full
t
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torque.
Thats a bit excessive!
For a gain of 1, if we are slightly above the
desired rpm, the torque will drop to zero.
Thats a bit excessive!
Could yield oscillations and broken shafts!
A t ti i t l t t th i t 0 01 As a starting point, lets set the gain to 0.01.
The rpm must be off by 100 rpm to get a full
torque signal
Top-Level Block Diagram
Go back to the top level of your model and
connect everything.
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Looks like a classical feedback system.
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Initial Condition
We are just about ready to run our model.
Left click on the Plant in the model browser
Drag in an Initial Condition block from the
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SimDriveline / Sensors & Actuators library
Connect it to the driveline.
Double click and give it a value of 0 rad/s (0 rpm)
Click OK
Note that without this block the initial speed
always start at zero. Using this initial condition
allows us to start the motor at a high rpm and then
see how it settles down to the desired rpm.
Initial Condition
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System Diagnostics
Before we run our model, we may want to
review the results in graph form.
We will utilize a scope
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We will utilize a scope
Process:
Name all signals of interest
Attach them to the scope
Preliminary signals of interest Preliminary signals of interest
Desired and actual rpm
Scope
In the Model Browser, left click on the
Controller
Right click on the signal line which
20
Right click on the signal line which
connects the Desired rpm port to the sum
Select Signal Properties from the menu.
Change the Signal Name to Desired_rpm
Click the OK button Click the OK button.
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Scope
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Scope
Repeat for the Actual rpm signal line,
renaming it Actual_rpm
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Note the underscores
in the signal names!
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Scope
Now we need to create a viewer and
attach the signals.
Right click on the Desired rpm signal line.
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g c c o e es ed_ p s g a e
(1) Select Create & Connect Viewer, (2)
select Simulink, then (3) select Scope,
from the menus.
Congratulations you have created a
scope that display a single signal scope that display a single signal,
Desired_rpm.
Scope
24
Right-click on this
signal line.
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Scope
Now we need to display the actual rpm on
the same scope and on the same axis.
Right click on the Actual rpm signal line
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Right click on the Actual_rpm signal line
and select Connect to Existing Viewer,
then select Scope, then select Axis1.
Scope
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Scope
You will notice little glasses on your
model.
These glasses indicate that the associated
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These glasses indicate that the associated
signal is being display on a scope.
Scope
Typically a scope will only display the last
7500 points of a simulation.
We are not sure how many points our
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We are not sure how many points our
simulation will have, so we will change this
setting.
Click on the Parameters button in the
scope window as shown next.
Select the History tab and uncheck the
option as shown.
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15
Scope
29
History tab selected.
Option not selected.
Click OK when done.
Execution
We can now run our model.
Before doing so, how should our system
respond?
30
p
When the rpm is well below 1800 rpm, the
motor should apply a large torque to the
system.
The motor should quickly approach 1800 rpm.
At close to 1800, the motor torque is reduced At close to 1800, the motor torque is reduced
and the rpm should hold close to 1800 rpm.
Lets see if our simple system and simple
controller behave as expected.
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16
Execution
Click the Start Simulation button
31
Start Simulation button
Execution
Observe the Scope
32
Click on
Actual rpm never
reaches Desired rpm.
Click on
binoculars
BAM!
It does not work!
Starts at IC of 0.
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17
Model Problems
The motor speeds up very quickly. Why?
The motor speed never reaches the
desired rpm Why?
33
desired rpm. Why?
The motor cannot reach the desired speed of 1800 rpm.
We would like to find out why.
1. Change the scope y-axis so that the range is 0 to 2000
34
g p y g
by default.
2. Modify the scope so that it displays 4 plots in the same
window
3. Display following signals:
1. Desired and actual rpm (already done).
2 Controller torque requested 2. Controller torque requested.
3. Motor Torque
4. Generator Torque
4. Determine why the motor cannot reach the desired
speed and fix it.
Demo___________
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18
System Observations
The system goes from 0 to 1800 rpm in
about 6 ms.
35
Does this make sense?
Yes because the inertia of the system is Yes, because the inertia of the system is
so small.
System Observations
A 6 ms step response seems quite fast for
this system.
The motors are specified as ultra low
36
The motors are specified as ultra-low
inertia motors, so this might be
reasonable.
We should figure out a way to measure
the inertia.
Such a small inertia will make the system
hard to control.
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Motor Step Response
37
0 to 99% takes about 6
ms (x = 6.080 ms)
Tach scaling = 2.5 V per
1000 rpm
( )
V
rpm
V
V
rpm
y rpm
5 2
1000
18 . 7
5 . 2
1000
=
x
y
rpm
V
2872
5 . 2
=

With this fast step response, the response of the motor on slide 34 seems
reasonable.
Model Testing and System
Comprehension
Observe the step response
38
Click on
Approaches
desired rpm
Click on
binoculars
BAM!
desired rpm
Starts at IC
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20
Issues
Note that we have but approached the desired
rpm but we dont seem to achieve it why?
Because this is a proportional control method
39
p p
and the error signal times the gain yields the
torque necessary to drive the motor!
Also note that 4 seconds of simulation time is
not needed.
Change the simulation end time to 0.05 seconds g
as shown next:
Simulation Time
40
Changed to 0.05 seconds.
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21
Simulation Time
Rerun the simulation and observe the
results:
41
Verification
Lets now make sure our system behaves
as expected
Perform the following tests write down
42
Perform the following tests, write down
what you think should happen, and verify
that it does
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22
Verification Initial Conditions
Test 1 - Set IC to 250 rad/s, all else constant
Expected
43
Expected __________________________
Simulation __________________________
Verification Controller Gain
For the next tests, hold the IC at 0 rad/s,
the desired rpm at 1800
44
We shall experiment with the controller
gain.
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23
Lecture 3 Demo 1
45
Test 3 - Set controller gain to 0.001
Steady state error (rpm) __________________
Steady state stability __________________
Test 4 Set controller gain to 0.01
Steady state error (rpm)
Demo
Test 6 Set controller gain to 1
Demo___________
Test 3 - Set controller gain to 0.001
Steady state error (rpm) _______500 rpm__
Steady state stability stable Did not reach 1800___
46
Steady state error (rpm) _______70 rpm___________
Steady state stability _______stable - Basically___________
Steady state error (rpm) _______7 rpm___________
Steady state stability ___Slight Oscllation 2 rpm p-p Mid Freq_____
Steady state error (rpm) _______<1 rpm___________
Steady state stability _______oscillates_- 1 rpm p-p, High Freq__
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47
Error Difference between
desired and actual response.
Amplifier error signal. Gain 0.
Input to the plant is proportional to
the difference between the desired
and actual plant response.
48
Gain = 0.001 Gain = 0.01
Gain = 0.1
Gain = 1
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49
Gain = 0.001
Gain = 0.01
Gain = 0.1
Gain = 1
Increasing the gain
Reduces the steady state error
50
Can lead to oscillation
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MBSD
This is why we do MBSD
Understand a complex system using simple
components
51
components
Understand effect of controller and
components / loads on system response
Size components to within the ballpark
Identify model shortcomings for future
improvement improvement
Good job!
Controller Design and Testing
Incremental Improvement to the
M d l Model
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27
Outline
Motor
Torque will be a function of rpm
Generator
L d t b h d b h i th b f li ht
53
Load torque can be changed by changing the number of light
bulbs.
Friction
Will be added via a clutch
MPC555x
Signals will be scaled accordingly
Getting Started
Its time to do a version switch.
Save your model.
S d l i
54
Lecture3_Model2.mdl
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Improved Motor
We will improve the motor model by making the
motor torque a function of motor rpm.
Use the same method used previously to
55
p y
measure the motor rpm.
Use a lookup table to implement the rpm
dependence of the motor.
Obtain a lookup table from the manufacturer.
Later on we will design an experiment and Later on we will design an experiment and
measure the actual torque curve of the motor.
Improved Motor Model
The following torque curve was obtained
from the manufacturer. (Not really, but
well pretend )
56
we ll pretend.)
Rpm Torque (Nm)
0 0.4
1000 0.4
2000 0.3
3000 0.2
4000 0
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Motor Model
Now that we have our motor torque curve
data, we can use it in our model.
We will use a 1 D look up table
57
We will use a 1-D look up table.
Our motor model presently has a constant
torque curve:
58
Replace these gain blocks with a
Lookup Table (Simulink/Lookup
Tables) and a Product block.
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59
Double-click on the lookup table and specify
the parameters as shown:
60
Input rpm values.
Output torque values.
Make sure that you
select Interpolation
Use End Values
The output of the part (Table data) is the motor torque.
The input to this part is the motor rpm.
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Motor Model
When you click the OK button, the torque
curve will be displayed on the lookup table
block
61
block.
Motor Model
We need to measure the motor speed and
convert the units from rad/sec to rpm.
We have already done this with a shaft
62
We have already done this with a shaft
encoder subsystem.
We can copy the shaft encoder subsystem
and then paste it inside the motor model.
Finally, we will feedback the rpm value to Finally, we will feedback the rpm value to
the table.
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Motor Model
63
Verify the operation of
your motor model.
Copy the Motor
subsystem to a new
64
Demo___________
subsystem to a new
model.
Generate a plot of
motor torque versus
shaft rpm.
You should obtain a plot
as shown: as shown:
You may need to add a
part called SimDriveline
Env to get your
simulation to run.
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33
Verification - Motor
We have made a simple change to our
model lets make sure it operates as we
expected
65
expected.
Run the following experiments and
observe the behavior. We should see
similar results as in the previous
simulation.
Set the shaft rpm initial condition back to
zero.
To verify the motor, we should really
observe the torque versus speed.
We need to add a torque sensor and then
66
We need to add a torque sensor and then
plot it on our graph.
We will create a new scope with two plots.
To create a new scope, we use the same
procedure we used earlier procedure we used earlier
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34
Adding a Scope
In the first plot, we wish to display the desired
and actual rpm.
To create a new scope, right click on the signal
67
p , g g
you display (Desired_rpm), and then select
Create & Connect Viewer, then Simulink, and
then Scope from the menu. This will display
signal Desired_rpm on the scope.
To add a second trace to the graph, right click
on the second signal you wish to display
(Actual_rpm), select Connect to Existing
Viewer, then Scope1, then Axis1 from the
menus.
We now have two scopes for our model
called Scope and Scope 1.
Scope has 4 plots (probably) that we
68
Scope has 4 plots (probably) that we
created in exercise 1.
Scope1 has a single plot. We would like
to add a second plot.
Click on the Parameters button in the Click on the Parameters button in the
Scope1 window as shown next.
Select the General tab and set the
number of axes to 2.
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Scope Settings
69
General tab selected.
Number of axes
specified as 2.
Motor Model
We must now add a torque sensor.
Find a part called Torque Sensor located
in the Simscape / SimDriveline / Sensors
70
in the Simscape / SimDriveline / Sensors
& Actuators library.
Use a terminator block as shown (Simulink
/ Commonly Used Blocks library) to
terminate the signal.
Label the Signal as Motor Torque
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Motor Model
71
Motor Model
We now want to add this trace to Axis 2 of
Scope1.
Right click on the Motor Torque signal line
72
Right-click on the Motor Torque signal line
and select Connect to Existing Viewer,
Scope1, and then Axis 2.
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Motor Model
One last improvement we
will make is to guarantee
that the motor cannot
73
that the motor cannot
output a negative torque.
(Because our DC motor
controller does not have a
brake.)
Add a saturation part as
shown and set its limits to
0 and inf.
Motor Model
74
Saturation part
added here.
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Motor Model
We now have a slightly better motor model
than before.
This motor follows a torque curve and
75
This motor follows a torque curve and
cannot output a negative torque.
If we had more time, we would continue to
make improvements to the model, but not
here.
We will now test the model to make sure
the improvements we have made work as
expected.
Motor Testing
When we run a simulation, we should see
the torque fall off as the motor speeds up.
76
Run the following g
tests.
Compare to previous
results.
See if our model
behaves as expected behaves as expected.
For all tests, set the
feedback gain to
0.01.
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Verification Motor IC
Old Model _rpm starts below, ramps up___
77
New Model __________________________
Test 2 Set IC to 250 rad/s, all else constant
Old Model __ rpm starts above, ramps down_
New Model __________________________
Make sure you observe the torque and see Make sure you observe the torque and see
that the motor behaves correctly.
Observe that the motor torque is zero if the
motor speed is to high.
Verification Motor Gain
For the next tests, set the IC at 0 rad/s, the
desired rpm at 1800
78
p
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40
Lecture 3 Demo 2
Verification Feedback Gain
Test 4 - Set controller gain to 0.001 Old Model New Model
Steady state error (rpm) ___________ ___________
Torque Signal ___________ ___________
79
Steady state stability ___________ ___________
Torque Signal ___________ ___________
Torque Signal ___________ ___________
Torque Signal ___________ ___________
Demo___________
Our model seems to be operating as
expected (or else do not contuinue)
When we observe the torque signal it is easy
80
When we observe the torque signal, it is easy
to see that the system oscillates at high gain!
Lets move on to the generator
Version control
Save it.
Save it again as Lecture3_Model3.mdl
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41
Improved Model - Generator
Our previous generator model applied a
load torque that varied linearly with speed.
81
The max load was equivalent to all of the
light bulbs being turned on.
We could never vary the load by changing
the number of light bulbs.
We will modify the load torque by We will modify the load torque by
multiplying the torque constant by the
number of bulbs.
Improved Generator
82
Original value was 1. Changed
to 1/6 for same load as before
when we have 6 bulbs.
Product added to multiply
by the number of bulbs.
Bulb load. Can range from
0 to 6 bulbs. 0 to 6 bulbs.
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Improved Generator
83
Part added so that we can only
have integer values of the
number of bulbs. Part name
Rounding Function. Library
Simulink / Math Operations.
Saturation part with limits
set from 0 to 6.
Dont forget to add this port.
Improved Generator
Since we added a new Simulink port to the
generator model, we will need to add a
84
port to the plant model as well.
Port added here.
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Improved Generator
At the top level we need to add a constant
that will be used to specify the number of
85
bulbs.
Constant added here.
Verification - Generator
We have made a simple change to our model
lets make sure it operates as we expected
Run the following experiments and ensure that
86
g p
we get the same results as with our previous
motor improvement
Set the light bulb load to 6 bulbs. This should be
the same as our previous experiments.
Set the desired rpm is 1800 and the p
proportional gain to 0.01.
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Lecture 3 Demo 3
Verification Generator IC
Old Model
87
Old Model __________________________
New Model __________________________
Test 2 Set IC to 250 rad/s, all else constant
Old Model __________________________
New Model __________________________
Th lt h ld t h i These results should match our previous
simulations since 6 bulbs is equivalent to
what we did previously.
Demo___________
For the next tests, hold the IC at 0 rad/s,
the desired rpm at 1800, and the load at 6
b lb h ll if th t ll i
88
bulbs we shall verify the controller gain.
The results should be the same as our
previous simulations.
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Lecture 3 Demo 4
Test 4 - Set controller gain to 0.001 Old Model New Model
Torque Signal ___________ ___________
89
Torque Signal ___________ ___________
Torque Signal ___________ ___________
Torque Signal ___________ ___________
Demo___________
Verification
Our generator model works as expected
for 6 bulbs. (If not, fix it.)
Since we have a variable load we can
90
Since we have a variable load, we can
now observe the affect of changing the
load on the simulation.
Next, we will run some tests while varying
the load.
For all tests set the gain to 0.01, the
desired rpm to 1800, and the initial
condition for the rpm to 0.
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Lecture 3 Demo 5
Test 1 - Set number of bulbs to 0
Steady state error (rpm) ___________________________
Torque Signal ___________________________
91
Torque Signal ___________________________
Torque Signal ___________________________
Torque Signal ___________________________
Torque Signal ___________________________
Demo___________
Lecture 3 Demo 6
Torque Signal ___________________________
92
Torque Signal ___________________________
The results should show that the steady state error
increases as we increase the number of bulbs.
With no load (0 bulbs) the error should be very ( ) y
close to zero.
Demo___________
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47
Improved Model - Generator
Right now our generator is pretty much a black
box that creates a load torque that is
proportional to motor rpm.
Lets try to do a similar model that relates a bit
93
Lets try to do a similar model that relates a bit
more to the physical components in our system.
The generator produces a voltage that is proportional
to the generator speed.
This voltage is applied to the light bulbs, and the
bulbs draw current proportional to the voltage applied
across them (Ohms Law).
The current is supplied by the generator.
To supply the current, the generator produces a
torque that opposes its direction of motion.
Improved Generator Model
This model is actually a combination of
many of the previous models we have
already built
94
already built.
Before continuing:
Save your model.
Lecture3_Model4.mdl
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48
95
96
Each bulb draws
about 1 A at 12 V.
Overall bulb
resistance.
When we have equal resistors in parallel, the overall
resistance is the resistance of a single element divided by
the number of elements.
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49
97
Generator voltage
is 24 V when the
rpm is 3500 .
Generator current is the generator
voltage divided by resistance of the
bulbs in parallel.
98
Convert the torque
from Oz-in to Nm.
Apply torque to
oppose the
direction of rotation.
Use the motor torque constant to
calculate how much torque is needed
to produce the generator current.
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99
This generator model has a bad flaw. Can you find it and fix it.
You might not notice until you run a few simulations.
To keep things moving along, well do just
a couple quick verifications
Improved Load - Verification
100
For all tests set the gain to 0.01, the
desired rpm to 1800, and the initial
condition for the rpm to 0.
You should notice that this model
produces a higher torque load than produces a higher torque load than
previously. For 6 bulbs, there is a fairly
large error. (We do see this in the lab.)
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Lecture 3 Demo 7
Torque Signal ___________________________
101
Torque Signal ___________________________
Torque Signal ___________________________
Torque Signal ___________________________
Torque Signal ___________________________
Demo___________
Lecture 3 Demo 8
Torque Signal ___________________________
102
Torque Signal ___________________________
The results should show that the steady state error
increases as we increase the number of bulbs.
With no load (0 bulbs) the error should be very ( ) y
close to zero.
With 6 bulbs, the generator loads down the motor,
and then motor cannot achieve the desired speed.
Demo___________
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Verification - Generator
Conclusions
We have slowly improved the models to make
them more physically realistic.
103
them more physically realistic.
Simple models can produce good results and
help us understand our physical system and
help control strategy development.
Lecture 3 Problem 1
Measure the step response of the motor so that we can
verify the quick response of the motor. You should obtain
a plot similar to the one shown below.
104
Complete___________ p ___________
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Lecture 3 Problem 2
Capacitor Car Description on next page.
105
Grade___________ ___________
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MBSD1 - Introduction to Model-Based System Design
Lecture 3 Problem 2

One of the systems we will be modeling in this course is a capacitor-powered electric car. (We
may also look at a spring powered car as well.) In this homework, we will begin developing the
models for the capacitor and the electric motor. Create models for the following components:

Capacitor:
The amount of charge that a capacitor stores in coulombs is q. The equation that governs the
amount of charge stored by the capacitor is q = CV, where C is the capacitance in Farads, and V
is the capacitor voltage. We add or remove charge from the capacitor with electric current. If the
current is positive, we will add charge to the capacitor and increase the stored charge and the
capacitor voltage. If the current is negative, we remove charge and decrease the stored charge
and capacitor voltage. The charge added or removed, q, is equal to the integral of the current,
q = ]I(t) Jt. Your model should have the following parameters:
Inputs: Capacitor current.
Outputs: Capacitor voltage.
Parameters: Initial capacitor voltage, capacitance in farads. (Constants)

Test your model by showing that the capacitor obeys the equation I
C
= C
dv
dt
using a sine wave
input current of 1 amp amplitude and a 1 Farad capacitor.

Electric Motor:
A lossless DC electric motor obeys the following equations.
The torque is equal to the torque constant K times the motor current, = KI where the
torque is in Newton-meters, the current is in amps, and the torque constant has units of
Nm/amp.
The motor back emf (voltage) is equal to the motor speed in rad/sec times the back emf
constant K which has units volts/(rad/sec), V
emf
= K.
Note that if the value of K has the same numerical value in both equations, we obtain the
equation for a lossless electromechanical energy converter, I
cm]
I = , where electrical power
equals mechanical power. To calculate the motor current, we take the applied voltage minus the
back emf, and divide it by the motor winding resistance, I =
v
cpp
-v
cm]
R
.

Create a motor model with the following parameters:
Input: Applied motor voltage in volts.
Output: Motor torque in Nm (SimDriveLine port)
Output: Motor current in amps. (Simulink signal.)
Parameters: Torque constant and back EMF constant (K), winding resistance, and motor inertia.

Test your motor model by applying a constant voltage of 24 V and no mechanical load (you will
still need the ENV part from the SimDriveline libraries. You should observe a spike of current at
startup when the motor speed is zero. As the motor speeds up, you will see the current go to zero
as the motor reaches steady state. Use the following motor parameters.
K=0.01 V/(rad/sec) = 0.01 Nm/Amp.
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Inerita=1.5e-3 kgm
2

Winding resistance=2 Ohms.
Applied Voltage = 24 V

You should see the current spike up to 12 Amps and the motor should speed up to

System test: Hook up your capacitor model to your motor model. Give the capacitor an initial
voltage of 12 V. Use the SimDriveline clutch to apply a constant frictional force to the motor.
Run the system until the capacitor discharges to zero. Show that the energy stored in the
capacitor equals the energy dissipated by the friction clutch plus the energy dissipated by the
series resistance. Use the controllable friction clutch in the SimDriveLine libraries. Specify a
clutch pressure of 1 and use the settings below for the clutch:

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Systems Design
Lecture 3A: Step Response Data Lecture 3A: Step Response, Data
Collection, and xPC
System Observations
In Lecture 3, we noticed that the motor had a 0%
to 99% step response time of about 6 ms.
This will cause us difficulties in the future.
P bl 1
2
Problem 1:
It will require a small integration step size during
Simulink simulations. You may have noticed this
already.
A small step size will take more time to complete a
simulation.
For us, this is not that great of a limitation because
our model is fairly simple.
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System Observations
Problem 2:
When we simulate a fast system in real time,
a small fixed integration step size is required.
3
a small fixed integration step size is required.
Even though we have a simple model, it will
require such a small fixed step size that our
real-time targets are not fast enough to run
the model.
System Observations
Problem 3:
The system responds so quickly to a step change,
that we can not observe system behavior visually.
4
y y
This is mostly an educational restriction because
we want you to see overshoot, undershoot, and
ringing as the controller gains are changed.
If the system responds in 6 ms, students will not
be able to see the systems dynamic response. It y y p
would be possible to see the response with a
scope, but we want to see the response on our
real-time system.
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System Observations
Problem 4:
It will be difficult to control a plant that
responds this quickly with the MPC555x
5
responds this quickly with the MPC555x
microcontrollers available in the lab.
Our controllers are limited to a minimum fixed
step size of 1 ms.
It is difficult to control a plant that has a time
constant of about 2 ms with a controller that constant of about 2 ms with a controller that
has a response time of 1 ms.
This is our greatest limitation.
System Limitations
If the motors do indeed respond as fast as
our simulations indicate, the controller
hardware available in the lab will not be
6
hardware available in the lab will not be
fast enough ton the feedback control
method.
We will either need to modify the plant or
purchase new and more expensive
microcontroller targets.
Both of these solutions are expensive and
time consuming.
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System Limitations
Before we go to the expense of modifying the plant
or purchasing new equipment, we will verify that the
motors do indeed have this fast of a response.
7
We will measure the step response of the motors.
In lecture 3, we presented a slide that showed the
step response measured using an oscilloscope.
We never actually set up and ran this experiment.
Some one just told us they measured the step j y p
response and the results were presented.
System Limitations
Here we will set up an experiment to:
Send the motor a step input.
Measure the systemstep response using a
8
Measure the system step response using a
real-time computer system running xPC.
Write a Matlab post processing function to
calculate the time constant from the
measured data.
Determine a course of action to mitigate the Determine a course of action to mitigate the
problem.
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Lecture Outline
Review system step response and observe
problems in the model.
Setup a real time target using xpcexplr
9
Setup a real-time target using xpcexplr
Learn how to run xPC on a real-time target.
Setup A/D and D/A blocks using xPC on a
Speedgoat real-time target.
Run the Step response and collect data Run the Step response and collect data.
Transfer the data to the host PC and analyze
the data.
Model Review
We will start with the last model generated in
lecture 3. This has been provided to you as
Lecture3A Model0 mdl
10
Lecture3A_Model0.mdl.
Save the model as Lecture3A_Model1.mdl.
The model is shown below:
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Model Review
The controller has a feedback gain of 0.01:
11
Select Simulation and then
Configuration Parameters fromthe Configuration Parameters from the
Simulink menus to view the simulation
setup:
Model Review
We see that we are using a variable step
solver and the maximum step size is set to
Auto:
12
Auto:
Solver selected.
Variable-step size solver selected.
Max step size set to auto.
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Solvers
A variable step solver uses a variable size time step
to perform the integration and solve the differential
equations.
13
When the system response changes slowly with
time, a variable-step size solver increases the
integration step size so that fewer integration steps
are required to complete the simulation.
This requires less computation and allows the simulation to
f t run faster.
When the system encounters an area where things
change quickly, the solver reduces the time step so
that faster dynamics are simulated accurately.
Solvers
Our motor-generator system is a good application for a
variable-step solver.
Usually we change the speed or number of bulbs infrequently.
During the times when the speed does not change or the bulb
14
During the times when the speed does not change or the bulb
load is not changed, the solver can take a large tikme step.
When we change the requested speed or the bulb load, we
usually ask for a step change. When we change the
number of bulbs, we introduce a step change in the load. We
cannot gradually increase the number of bulbs from say 1 to 2
because we must turn on the bulbs in discrete amounts (We because we must turn on the bulbs in discrete amounts. (We
cannot turn on 1.5 bulbs.)
A step change in the request speed or bulb load introduces a
step change into the system. The variable step solver will
reduce the time step to accurately simulate the system.
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Solvers
We also note that the simulation parameters
specify that the max time step is set to auto.
This means the solver can increase the time step
15
p
to as large a value as it desires.
We will see later that the discrete intervals at
which a microcontroller can change its output
effectively adds phase delay into the system. This
delay can cause the system to oscillate.
The larger the simulation time step, the larger the
delay.
Solvers
We also note that the simulation parameters specify that
the min time step is set to auto.
This means that the solver can make the time step as
small as it wants to
16
small as it wants to.
This could result in very long simulation times.
When the step size becomes small, you will notice:
The simulation appears to hang at a certain spot because the time
step is so small. The simulation is still running, but the time step is
so small that the simulation appears to not be making any progress.
Simulink will stop and indicate that the minimumtime stephad Simulink will stop and indicate that the minimum time step had
been reached and that there is a convergence error.
A small time step is a result of a system that changes its
properties over a very short time.
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Solvers
Examples of systems that require small time
steps are:
Clutches during the locked or unlocked state, the
17
system is easy to solve. However, when the system
transitions between the locked and unlocked state, an
extremely small time step is required to determine just
when the mode switches between the locked and
unlocked states.
Power-electronic switches a switch goes from a high
impedance state to a low impedance state in a matter of
microseconds. This transition take a small time step to
simulate accurately.
System Simulation
Run the simulation with the max time step set to
auto, the feedback gain set to 0.01, and the desired
rpm set to 1800. We see the results below:
18
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System Simulation
If you zoom in on the rpm and the torque
signals, you will notice an oscillation:
19
System Simulation
The oscillation could be a result of the feedback gain being too
high, the simulation time step being too large, or a combination
of the two.
We will fix the problem by setting the max time step to 0.0001
20
p y g p
seconds:
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System Simulation
A max simulation time step of 0.001
seconds did not eliminate the oscillation.
A max time step of 0 0001 was needed
21
A max time step of 0.0001 was needed.
The smallest time step we can run our
controller at is 1 ms, meaning that this
physical system is too fast to be controlled
by out microcontroller targets.
System Simulation
Zooming in at the beginning of the simulation, we
see that the system step response reaches steady
state in about 6 ms:
22
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System Response
This is indeed a very fast response.
If the motor does respond at this fast of a
rate we will need to slowthe systemdown
23
rate, we will need to slow the system down
or choose new controller targets.
Before we take one of these drastic steps
to correct the problem, we will measure
the actual step response of the motors to
verify that they are indeed this fast.
We will use xPC and a real-time target to
run a step response and collect the data.
Lecture 3A Exercise 1
Use the fixed-step ode3 (Bokacki-Shampine) solver and
determine the largest fixed step size that can be used to
simulate the system with out yielding an oscillation in the motor
torque or plant rpm.
24
The desired rpm should be set to 1800, number of bulbs to 3,
and the feedback gain to 0.01 (same as used in the previous
slides.)
Note that when we deploy the controller on the MPC555x
target, a fixed step size will be used. Thus, this is a good test to
determine the required step size needed for our controller. q p
Find the max step size to the nearest 100 s.
Demo___________
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xPC
We will be using real-time target computers from Speedgoat.
These targets are industrial strength personal computers
designed to survive in rugged environments.
Th fi d i h PC d h l d di i l
25
They are preconfigured with xPC and have analog and digital
I/O capabilities.
In Lecture 8, we will show how to setup and use an old
personal computer as a real-time computer using xPC target.
Since these targets are preconfigured, we will just go through
the steps necessary to communicate with and run models on
the target.
In Lectures 8 and 10, we will show more detail on using
xpcexplr and target setup.
xPC Explorer
From the Matlab prompt, type the
command >>xpcexplr
We will use xpcexplr to:
26
We will use xpcexplr to:
specify settings to allow us to communicate
with the target.
Specify a compiler to allow us to build models.
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Visual Studio Compiler
First, we will select the compiler. We will
assume that you are using the Microsoft
Visual Studio 2005
27
Visual Studio 2005.
We will assume that you have already
installed the Microsoft compiler and that it is
installed in directory C:\Program
Files\Microsoft Visual Studio 8.
Visual Studio Compiler Setup
The compiler is specified using the xPC
Explorer.
28
Select VisualC here Select VisualC here.
Compiler configuration
selected.
Specify the directory where
the the Microsoft Vasual C
compiler is installed.
Click apply when done.
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If you have Microsoft Visual Studio 2005
installed, your settings will be as shown:
29
Compiler Configuration
specified.
the Visual C compiler is
installed.
30
Default name of the target
PC is TargetPC1.
Click on the plus sign to
expand the tree.
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16
31
Click here to specify the
communication settings for
The first thing we will do is specify the communication
options for our target
your target.
options for our target.
Click on the Communication selection in the tree.
32
Communication tab
selected.
We will look briefly at some of these options.
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xPC Setup
We will be communicating with our target
through the network.
Select the TCP/IP connection
33
Select the TCP/IP connection
Select communication
settings here.
xPC Setup
Specify the IP addresses for your target
system.
34
Always set to
The IP address of the
target we will use in this
example is 137.112.85.111.
The next slide tells us to
determine the address of
our target
Specify the gateway
address for your network.
Always set to
255.255.255.0.
our target.
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xPC Target
We will be using targets preconfigured with xPC.
These targets have an IP address specified in their
setup file/configuration.
35
p g
When you boot up this target, a screen will appear
showing you the IP address.
This is a static address. The address is specified in
xpcexplr in the configuration section we are currently
working on. g
When you specify an IP address in xpcexplr, you need
to make sure that no other computer is using that IP
address.
xPC Target
When you boot up the xPC target, if a monitor is
connected, it should display status information about
the target, including its IP address.
36
The IP address of our
target is 137.112.85.111
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xPC Setup
Select the driver/chip set for your Ethernet
card:
37
Select Ethernet card chip
set here. For the
Speedgoat targets, select
I82559.
xPC Setup
Select the type of bus into which the
Ethernet card is plugged:
38
The Speedgoat targets use
a PCI bus.
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xPC Setup
Next, select Settings.
Since our model is small, we will use the
default settings for model size:
39
Settings selected. Maximum model size
specified here.
40
Right-click here.
Select Connect from the menus.
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41
No red x here.
If your setup was successful and your target
computer registers on the network:
1) The red x next to TargetPC1 should
disappear.
2) You should be able to explore the target ) p g
PCs hardware with the Target Explorer.
3) You should be able to see the files on the
floppy disk.
xPC Setup
Communication with our target is now complete.
We are now ready to create a model to run on the xPC
target computer.
42
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Step Response
We will now use the Speedgoat target to run a test on
the motor and collect data.
To generate a step, we will use an analog output
channel to generate a 0 to 5 V step
43
channel to generate a 0 to 5 V step.
A 5 V input to the motor driver will tell the driver to run the motor
at full power.
We will then measure the motor rpm using an analog
input channel from the Speedgoat target.
We will write the data to a file on the target machine.
W ill th M tl b i t th h t t t We will then run a Matlab script on the host computer to
read the data file, perform some data conversion, and
then determine the step response.
Speedgoat Target
The Speedgoat real-time target has a PMC730
Multi-function I/O target installed.
This card has the following facilities:
44
This card has the following facilities:
32 Analog input channels with 16-bit resolution.
Can be configured as 32 single-ended input channels
(single input referenced to ground).
Can be configured as 16 differential input channels
(signal difference between the two inputs). (signal difference between the two inputs).
8 Single-ended analog output channels with 16-bit
resolution.
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PMC730 Multi-function I/O Card
16 Digital I/O Channels.
Input/output function configured in groups of
8-channels
45
8 channels
One 32-bit counter/timer
A data sheet for the PMC730 is available
on-line in the DataSheets section of the
MBSD1 website.
Speed Goat target.
Create a new Simulink model and name it
Lecture3A_xPC1.mdl.
We must first configure the hardware on
46
We must first configure the hardware on
the PCM730 board.
Place a Simulink block named PMC730 5
located in the xPC Target: Speedgoat I/O
Driver Library / IO101 library in your
model.
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PMC730 Acromag Setup
This single block is used to setup all functions of
the PMC730 card.
Only 1 copy of this block is needed to set up the
47
y py p
analog I/O and digital I/O facilities of the card.
Double-click on the block to open it.
Note that the block will appear differently
depending on the parameter group selected.
The screen captures on the next page showthe The screen captures on the next page show the
same block with different Parameter groups
selected.
48
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PMC730 5 Acromag setup block
We notice that the module identifier in all of the
screen captures on the previous slide was set to 1.
If a Speedgoat target has more than one PMC730
49
target, we can use this card to address each PMC730
individually.
Our targets have a single PMC730 installed, so the
module identifier will be specified as 1.
We will nowset the parameters on this block to have We will now set the parameters on this block to have
a single analog input and a single analog output.
We fist must specify the Module setup.
Since we only have a single PMC730 module, we can
specify that xPC automatically determine in which slot
th PMC730 i i t ll d If h d th
50
the PMC730 is installed. If we had more than one
PMC730 installed, we would specify the slot
manually:
Module 1 specified.
Module setup specified. p p
Automatically determine which
slot the card is installed.
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We need to specify one channel for analog input:
51
Module 1 specified.
We are configuring the analog inputs.
For multiple channels, start with
channel 1 as the first channel.
We will have one analog input.
Measure the input between the
channel input and ground.
We will be measuring the rpm signal which
is always positive and between 0 and 10.
We need to specify one channel for analog output:
52
Module 1 specified.
Specify channel 1 as the only
input.
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Analog Output
Next, we will add an analog output block to
provide a 0 to 5 V step to the motor controller.
Place a block called PMC730 2 located in the
53
xPC Target: Speedgoat I/O Driver Library /
IO101 library in your model.
Connect a Step block from the Simulink /
Sources library to the Analog output block:
Analog Output
The settings for the analog output block are:
54
We are using the analog output We are using the analog output
channel of the PMC730 identified
as module 1 in the setup block.
We will specify the sample time
as a variable so that we can
change the rate at which we g
collect data in the model. Ts will
be defined in the workspace.
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Step Block
The settings for the step block are:
55
We will run the simulation for 20 We will run the simulation for 20
ms. The step will occur at 10 ms.
The Step will start at 0 volts.
The stepped voltage will be 5 V.
change the rate at which we
Analog Input
We will use an analog input channel to measure the
rpm.
Place a block called PMC730 1 located in the xPC
Target: Speedgoat I/O Driver Library / IO101
56
Target: Speedgoat I/O Driver Library / IO101
library in your model.
Add a Mux from the Simulink / Commonly Used
Blocks library and connect as shown:
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Analog Input
The properties of the analog input block
are:
57
change the rate at which we
Next, we need to place some xPC scopes
in our model.
xPC Scopes can be used to generate plots
58
Simulink xPC Target Library
xPC Scopes can be used to generate plots
or to save data in a file.
Open the Simulink Library Browser by
selecting View and then Library Browser
from the Simulink menus or clicking the
Library Browser button
Expand the xPC Target library near the
bottom of the list:
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We are looking for the xPC Scope which is
in the Misc library:
59
These blocks ill These blocks will
display a trace on
the target PC
screen or can be
used to record data
in a file.
Place a scope in
your model as
shown.
Model Changes
We want to record the applied step signal
and the measured rpm.
Modify the model as shown:
60
Modify the model as shown:
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Model Changes
Next, double-click on
the Target Scope
block and make the
61
changes below.
Specify the Scope type as File. This
will save the input signals to a file.
Collect a total of 2000 data points.
The amount of time the data will span
is the number off data points times the
sample time (assuming a decimation
of 1). For a step time of 0.00001, we
can record data for 20 ms, the entire
length of our simulation.
Model Changes
Next, double-click on
the Target Scope
block and make the
62
changes below.
This trigger method means that the
ill b i d i ll
Record every data point.
scope will be triggered automatically.
Data is saved on the real-time target
in this file. Change the name of the file
to Step_xxx.dat where xxx are your
initials.
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Model Changes
Click the OK button to save the changes. The
complete model is:
63
Simulation Parameter Setup
Next, we need to set up the simulation
parameters.
Select Simulation and then Configuration
64
Parameters from the Simulink menus
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There are a number of parameters we
need to change.
Select the Solver tab and specify the
65
following parameters
Stop time: 0.02
Type: Fixed-step
Solver: Discrete (no continuous states)
Fixed-Step Size: Ts
These selections are shown on the
following slide.
66 Fixed step solver selected.
Ending time set to 0.02.
Discrete solver selected.
Solver selected.
Time step =Ts.
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Next, select the Real-Time Workshop tab:
67
Click here to select the
target.
Real-Time Workshop
selected.
We need to specify
that we will be using
a xPC target as our
68
a xPC target as our
target system.
Click the Browse
button, select the
file named
xpctarget.tlc, and
then select OK.
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Your dialog box should look as shown.
69
We do not need to make any other
changes.
However we will look at the xPC Target
70
However, we will look at the xPC Target
options tab to see some other options that
control behavior we will see.
Select the xPC Target options tab.
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71
After we build our model, it
will be automatically
downloaded to the target.
The model will be The model will be
downloaded to the default
target, which is named
TargetPC1.
The Configuration Parameters are now
complete so click the OK button to accept
the settings
72
the settings.
Next, we need to define the value of the
sample time, Ts.
You can do this at the Matlab prompt or as
part of the initialization process of the
model, which is ho we will do it.
Select File and then Model Properties
from the Simulink menus:
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Model Properties
73
Model Properties
Select the Callbacks tab and select the
InitFnc tab.
74
Commands in Commands in
this windowwill
be executed
every time the
model is run,
prior to the model prior to the model
execution.
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Model Properties
We can place any Matlab commands in
this pane.
We will define the sample time here as
75
We will define the sample time here as
100 microseconds:
Model Wiring
The last thing we need to do before running the
model is to connect the real-time system to the
systemunder test
76
system under test.
Pin connections for the PMC730 are defined in
the users manual located on the website for
MBSD1.
We are using Analog Output 1.
We need to also find the ground reference for
this output.
The data sheet is shown on the next slide:
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Analog Output Pin Connection
77
Pin connection information is
contained in table 2.2.
Analog output channels listed
here.
78
We specified the first analog output
channel. Thus, our output is pin 12.
We can use any of these common
connections as our ground reference.
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Analog Input Pin Connection
79
We can use any of the common connections specified in
the previous slide as our ground reference.
We specified the first analog input
channel. Thus, our input is pin 34.
80
With this window
open, type ctrl-b to
We are now ready to run
the model.
build and download
the model.
You can also select
Tools / Real-Time
Workshop / Build
Model fromthe
After typing ctrl-b, switch
Model from the
Simulink models.
yp g ,
to the Matlab command
window to monitor the
progress.
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81
82
If the build is successful,
the model will be
downloaded to the target
PC.
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Model Execution
If you were successful, your model should
be downloaded to your target PC.
If you have a monitor on your PC you
83
If you have a monitor on your PC, you
should see the following screen.
84
Name of model presently Name of model presently
loaded on target.
No graphs shown in this
windowbecause we window because we
specified the xPC scope to
send data to a file.
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Model Execution
We are now ready to run the model on our
Speedgoat target.
We must specify that the model should run
85
on a an external target.
Select Simulation and then External from
the Simulink Menus.
The tool bar should showthat you have The tool bar should show that you have
selected an external target.
86
Note that this specifies an
external target.
Note this button. This is the
connect to external target
button.
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Model Execution
Note that a new button has appeared.
This button means connect to external
target
87
target.
Next, we must connect to the external
target.
Click on the button, or select
Simulation and then Connect to Target Simulation and then Connect to Target
from the Simulink menus.
Model Execution
You might ask, how does Matlab know
which target to connect to.
In the Simulation Parameters setup on the
88
In the Simulation Parameters setup, on the
xPC tab we specified to automatically
download the model after building, and we
specified that it should use the default
target.
In the xPC Explorer, we specified
TargetPC1 as the default target.
Thus, our model will run on TargetPC1.
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Model Execution
After connecting to the target, the play
button should become available:
89
Click on the play p y
button to start the
simulation on the
remote target.
Model Execution
When the mode runs, you should heat the
motors turn on briefly and then turn off.
The motor just respondedto the step and
90
The motor just responded to the step and
the model ended after 20 ms of execution.
We now need to check to see if the data
file was created on the target.
We will use the xpcexplr to viewthe root We will use the xpcexplr to view the root
directory of the target pc.
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Collected Data File
Run the xPC Explorer (xpcexplr)
Connect to the remote target
E dth Fil S t ti f th t
91
Expand the File System portion of the tree.
Select local disk C:\ to view the contents of
the root directory:
Collected Data File
92
Root directory
selected.
This is our data file.
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Post Processing
We now need to read the data file from the
remote target and then process the data.
The Matlab script is discussedin the next
93
The Matlab script is discussed in the next
few slides:
Open the file system on the
remote target.
Obtain the handle for the
data file.
Read the data from the file
into variable data. The data is
in raw format.
Close the data file.
Post Processing
94
Convert the data to a
structure.
The step input is the second The step input is the second
column of the data.
The measured voltage is the
first column of the data.
Time is the first column of the
data.
Generate two plots in one
window. Plot the unscaled
data in the top plot.
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Post Processing
95
Determine the 10% and 90%
points. Calculate the time
constant as the 10 to 90% rise
time divided by 2 2 time divided by 2.2.
Post Processing
96
Plot the scaled data and the
10% and 90% points on the
second plot in the window.
Display calculated values in a
message box.
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Results
Lecture 3A Demo 1
97
Demo___________
Results
We see that the system does respond
quickly.
The systemis too fast to control with the
98
The system is too fast to control with the
hardware targets available in the lab.
To fix the problem, we will add a flywheel
to slow down the system response.
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Flywheel
99
We will add the flywheel show above to
the motor-generator system.
f f The calculated inertia of the flywheel is
1.04110
-4
kgm
2
.
Flywheel
In the model, this change has the effect of adding
more inertia to the system as shown below:
100
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Lecture 3A Exercise 2
Add the flywheel inertia to your system. (Repeat exercise 1 with
the added inertia.)
Use the fixed-step ode3 (Bokacki-Shampine) solver and
determine the largest fixed step size that can be used to
101
g p
simulate the system with out yielding an oscillation in the motor
torque or plant rpm.
The desired rpm should be set to 1800, number of bulbs to 3,
and the feedback gain to 0.01 (same as used in the previous
slides.)
Note that when we deploy the controller on the MPC555x Note that when we deploy the controller on the MPC555x
target, a fixed step size will be used. Thus, this is a good test to
determine the required step size needed for our controller.
Find the max step size to the nearest 1 ms.
Demo___________
Lecture 3A Problem1
System Rise Time
We would like to redo our rise time measurement using the
motor generator system with the added flywheel.
A second Speedgoat real-time system has been set up to
102
Demo___________
control and measure data from the motor generator system:
The IP address is xxx.xxx.85.112.
The rpm signal conversion is 1.25 V per 1000 rpm. (We added a voltage
divider to cut the rpm signal in half.)
Repeat the measurements of Lecture 3A Demo1 for the Motor-
Generator system with a flywheel. Note that this system is
b bl 50 100 i l h h i lf probably 50 to 100 times slower than the motor itself.
Generate a plot, calculate the time constant, and calculate the
rise time.
Note that this system is wired differently than the motor.
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Lecture 3A Problem2
Measured Coast Down
We would like to measure the coast-down response of the
motor-generator system used in Problem 1.
Let the motor speed up to its maximum speed and then allow
103
Demo___________
the motor to coast to a stop.
For the coast-down, measure:
The time constant.
The time it takes to reach zero (5 time constants)
Generate a plot of the coast-down response showing with the 10% and
90% points marked.
Save the coast-down data in a file on your computer for use in
a later example.
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Copyright 2001 Marc E. Herniter
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Transfer Fcn 2
1
(1/1e7)s+1
Transfer Fcn 1
1
(1/5e6)s+1
Transfer Fcn
1000
(1/1e6)s+1
Scope Saturation
Gain
0.1
Constant
.001
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F=0.1
Transfer Fcn 2
1
(1/1e7)s+1
Transfer Fcn 1
1
(1/5e6)s+1
Transfer Fcn
1000
(1/1e6)s+1
Scope1 Saturation
Gain
0.025
Constant
.001
Output
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F=0.025
Transfer Fcn 2
1
(1/1e7)s+1
Transfer Fcn 1
1
(1/5e6)s+1
Transfer Fcn
1000
(1/1e6)s+1
Scope1 Saturation
Gain
0.02
Constant
.001
Output
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F=0.02
Transfer Fcn 2
1
(1/1e7)s+1
Transfer Fcn 1
1
(1/5e6)s+1
Transfer Fcn
1000
(1/1e6)s+1
Scope1 Saturation
Gain
0.0125
Constant
.001
Output
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F
=
0
.
0
1
2
5
1
Systems Design
Lecture 4 : Plant Model Transfer Function Lecture 4 : Plant Model Transfer Function
Plant Model Transfer Function
To use the tools covered in a classical
control class, we need to determine the
transfer function of the plant model
2
transfer function of the plant model.
We will do this by measuring the
magnitude response versus frequency of
the plant input-output transfer function.
(This will be a Bode magnitude plot.)
We could also measure the phase plot, but
we will not do this.
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2
We must first bias the plant to operate around the desired
operating point.
In our case, well say that we want to use the motor-
generator systemnear a frequency of 1800 rpm
3
generator system near a frequency of 1800 rpm.
We will determine the bias needed to obtain this rpm.
We will use the plant with a fixed load and remove the
controller
The example we show will be for the original plant without
the flywheel. This plant will be very fast and have a pole at
a high frequency.
For an exercise, we will repeat the analysis with the same
model and add the flywheel. The bode plot should be
similar with the poles located at lower frequencies.
4
The constant input is the value of the input
needed to achieve an rpm of 1800 at the
output.
Th t f h th d l I The next few screens show the models I
used to generate the magnitude plot. You
should use the improved models..
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3
5
Plant Model
Note no flywheel. We will
Initial condition set to 1800*(2*pi/60) to avoid a
start-up transient.
add it later.
Motor Model
6
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4
Generator Model
7
With a constant input of 0.69, the motor-
generator system runs at about 1800 rpm:
8
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5
Plant Transfer Function
The previous simulation required a small
step size to prevent numerical oscillations
in the output:
9
in the output:
This value changed
from auto to 1e-4.
Had we left the max step size at auto, we
would see the following output:
10
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6
Now that we have our plant biased at 1800
rpm, we will introduce a small-signal sine
wave at the input and measure the
11
wave at the input and measure the
magnitude of the output at various
frequencies:
The properties of the sine wave are:
12
Amplitude set to a small
variation. This is small
compared to the bias value of
0.69. We will not change the
amplitude (0.01) in our analysis.
We will start with a low
frequency. We will change this
value each time we run a
simulation.
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We will let the simulation run for 400
seconds (since the frequency is so low).
We will set the maximumstep size to 1e 3
13
We will set the maximum step size to 1e-3
so that the simulation does not take too
long to run (because the simulation will run
for 400 seconds of simulation time).
We see the following output waveform:
14
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8
Cursors
We can measure the waveform using
cursors.
The cursors are not normally displayed on
15
y p y
a scope plot.
To display standard plotting menus on a
scope, run the following Matlab commands
shh=get(0,'ShowHiddenHandles');
set(0,'ShowHiddenHandles','On') ( , , )
set(gcf,'menubar','figure')
set(gcf,'CloseRequestFcn','closereq')
set(gcf,'DefaultLineClipping','Off')
set(0,'ShowHiddenHandles',shh)
Cursors
These commands will cause the File menu
to be displayed on the scope screen.
To display the cursors you can then select
16
To display the cursors, you can then select
Tools and then Data Cursor to display
the cursors.
When you click the mouse on a trace, a
square will be displayed with the points
coordinates.
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9
Cursor Values
17
For an input frequency of 0.1 rad/sec, we
see the following:
Peak to peak output is 1830 rpm 1778
18
Peak-to-peak output is 1830 rpm 1778
rpm = 52 rpm.
Output amplitude = 26 rpm.
Gain = Output amplitude divided by input
amplitude =(26 rpm)/(0.01) =2600. amplitude (26 rpm)/(0.01) 2600.
Gain
db
= 20*log
10
(Gain) = 68.3 dB
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10
We will measure the gain at several
different frequencies.
The input amplitude will be kept constant
19
The input amplitude will be kept constant.
We will change the length of the simulation
and the max step size as appropriate for
higher frequencies.
20
Frequency
(rad/sec)
Output Amplitude Gain Gain (dB)
0.1 26 2600 68.3
1 26 2600 68.3
10 26 2600 68.3
20 26 2600 68.3
40 25.5 2550 68.1
80 24 2400 67.6
100 23 2300 67.2
200 17.5 1750 64.9
300 13 5 1350 62 6 300 13.5 1350 62.6
400 11 1100 60.8
1000 4.5 450 50.1
10000 0.5 50 34.0
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11
Plot with Matlab
Amplitude=0.01;
freq=[.1 1 10 20 40, 80 100 200 300 400 1000 10000];
output=[26, 26, 26,26,25.5,24 23, 17.5 13.5 11 4.5, 0.5];
21
mag=output/Amplitude;
dB=20*log10(mag);
semilogx(freq,dB,'rx-');
grid on
title('Motor Generator Magnitude Response');
l b l('A lit d (dB)') ylabel('Amplitude (dB)');
xlabel('Frequency (rad/sec)');
Plant Magnitude Response
22
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12
Our motor-generator system has a single
pole between 100 and 200 rad/sec.
Note that a single poles systemcannot
23
Note that a single poles system cannot
oscillate because we only have 90
degrees of phase (1 pole).
So why did we see oscillations at when we
had large proportional gain?
There must be extra delay somewhere.
Lecture 4 Problem 1
Repeat the bode plot for our system and include the
flywheel inertia of 1.04110
-4
kgm
2
.
Fill in the table below and generate a plot.
24
F ( d/ ) O t t A lit d G i G i (dB)
Demo___________
Frequency (rad/sec) Output Amplitude Gain Gain (dB)
0.1
1
2
4
8
10
20
40
80
100
1000
10000
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13
Lecture 4 Problem 2
A plant has the following transfer function
25
( )( )( )
100
1 1
1 . 0
1
1000
s
s
s
+ + +
We will use this plant with proportional feedback as shown in class.
a) Use gain and phase plots to find the largest value of the feedback constant F
that can be used to have a stable system with zero degrees phase margin.
b) Use Simulink to show that the system is unstable for values of F larger than
this value of F.
c) Use Simulink to show that the system is stable for values less than or equal
to this value of F.
d) Use gain and phase plots to find the largest value of the feedback constant F
that can be used to have a stable system with a 60 degrees phase margin.
Grade___________
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1
Systems Design
Lecture 5 : Improving the Plant Model Lecture 5 : Improving the Plant Model
Improved Model - Friction
To this point, our system has been
frictionless.
2
We could see this as a problem if we give
the motor an initial velocity, set the desired
velocity to 0, and set the bulb load to zero.
The motor would never apply a torque, but
h h f ld i i the shaft would continue to spin
indefinitely.
This is obviously not correct.
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2
The easiest way to add friction is to
incorporate a Friction Clutch into the plant.
3
p p
Go to the plant level and drag in a
Controllable Friction Clutch and a
Housing.
Simscape / Dynamic Elements / Controllable Friction Clutch
Simscape / Solvers & Inertias / Housing p g
4
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3
The base of our clutch is attached to a housing
to lock it in place.
5
The follower is connected to the driveline.
The pressure port regulates how much the
clutch is engaged
0 : not engaged, no friction
1 : fully engaged, full friction
System might not rotate
Or have the full drag force applied
Add a constant to regulate the pressure
Full Plant Model
6
Constant added
here.
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4
Now we need to set up our clutch double
click on it and change following
7
click on it and change following
Directionality : unidirectional
Number of friction surfaces : 1
Effective torque radius : 1
Peak normal force : 1
Our clutch is unidirectional because our
shafts only spin one way
The other parameters are unchanged
Clutch Friction
The peak torque that the clutch can apply
is equal to the number of friction
surfaces times the torque radius times
8
surfaces times the torque radius times
the peak normal force.
For our case, the peak torque will be 1
Nm. (More than our motor can supply.)
The actual torque applied is this peak
torque times the pressure input (a number
between 0 and 1).
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5
Improved Friction - Verification
For our first test, set the pressure to zero
and verify that nothing changed from our
l t d l
9
last model.
Looks
pretty
similar!
Version with
clutch. (3 bulbs.)
Version
without
clutch
Now set the pressure to one and the number of
bulbs to zero and verify that the system does not
rotate. (We expect this because the friction
10
torque is greater than the maximum motor
torque.)
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6
11
System is definitely
not rotating!
Desired rpm.
Motor is putting out
max torque
No generator torque
because it is not spinning
Set the load to zero bulbs and the desired
rpm to 1800. Zero initial condition.
12
Set the pressure to 0.25 and execute.
Even though we
have no load, we
have an error
because of the
load due to
friction friction.
System hits SS
(controller is still trying
to hit 1800 rpm)
More than half of the
rated motor torque goes
to overcoming friction!
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7
Improved Friction - Validation
Our friction appears to be to high
Over half of the motors rated torque goes to
13
overcoming it!
Adjust the pressure such that about 0.05
Nm of torque are required to overcome the
friction.
Improved Friction - Validation
Setting the pressure to 0.05 works well
14
SS rpm is very close
to the desired value.
Motor torque to overcome
friction is right around 0.05 Nm
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8
Determine the value of the pressure to the
friction clutch so that the system coasts
down from 2700 rpm to zero in about 130
15
down from 2700 rpm to zero in about 130
ms.
Demo___________
Plant Model Coast Down Test
In vehicle design, a data point for verifying the
accuracy of the mechanical model of the vehicle
is a coast-down test.
16
With zero wind, run the vehicle at 60 mph.
Set the engine and motors to zero torque and
plot the vehicle speed as it coasts down to zero.
Tests and measures aerodynamic drag and
vehicle frictional losses.
Calibrate your model to match the measured
coast-down.
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9
Plant Model Coast Down
For our motor-generator system, we will set the
motor-generator rpm to a preset value.
With no load, we will time how long it takes the
17
, g
rpm to reach zero.
We will fit the value of the clutch friction in the
model so that the model coast-down time
matches the measured coast-down time.
We will use a MathWorks tool to automatically y
find the correct value of clutch pressure.
Measured Coast-Down
18
Tach scaling = 2.5 V per
1000 rpm
x
y
( )
rpm
V
rpm
V
V
rpm
y rpm
2748
5 . 2
1000
87 . 6
5 . 2
1000
=

=
rpm 2748 =
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10
Measured Coast-Down
We will use the pressure value of the
friction clutch to match the measured
coast-down time to the simulated coast-
19
coast down time to the simulated coast
down time.
Instead of searching for the clutch
pressure manually, we will use the
Simulink Response Optimization toolbox.
First, we need to measure points from the
measured rpm trace.
Measured points are shown next:
Motor-Generator Coast Down
%Measured Coast Down Data for Motor-Generator
System
time=[ 0 0.100 0.1060 0.1187 0.1298 0.1417,...
0 1596 0 1715 0 1834 0 1953 0 2072
20
0.1596 0.1715 0.1834 0.1953 0.2072,...
0.2191 0.2340, .5];
rpm=[2748, 2748, 2525, 2228, 1857, 1560, 1188, 966,...
742, 519, 371, 148,0,0];
plot(time,rpm);
xlabel('Time (s)'); xlabel( Time (s) );
ylabel('Speed (rpm)');
title('Motor-Generator Coast Down');
grid on;
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21
Motor-Generator Coast-Down
We must now modify the plant so that:
It has no torque input and no load.
We set the initial condition to 2748 rpm
22
We set the initial condition to 2748 rpm.
Remove whatever torque maintains the speed
at 2748 rpm and allow the motor-generator
system to coast down to 0 rpm.
The top-level is shown next.
Note that the controller has been removed.
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12
23
No motor torque
and no load torque.
Motor-Generator Coast-Down
Inside the plant, we need to set the initial
condition to 2748 rpm.
We will add a new torque source that
24
We will add a new torque source that
balances the torque due to friction.
While the forces are balanced, the motor-
generator system will maintain the initial
rpm, whatever it is.
When we want the system to coast-down,
we set the added torque source to zero.
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25
This step function has an initial
output value of 1 and then steps
down to zero at 100 ms.
Added torque source to
balance friction.
Friction clutch from
before.
This constant uses a
Matlab variable
named Pressure.
The settings for the Step input source are
shown below. This part is located in the
Simulink / Sources toolbox
26
Simulink / Sources toolbox.
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14
The initial condition of the drive line is set
as shown:
27
Next, in the Matlab workspace set the
value of the constant Pressure to 0.05, the
value we found in the last section
28
value we found in the last section.
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15
Run a simulation for 300 ms and verify
that:
The system starts with an initial rpm of 2748
29
The system starts with an initial rpm of 2748.
At 100 ms, the system coasts down to zero
rpm.
The time it takes to coast down is not the
same as the measured time.
30
Rpm decreases to
0 in about 50 ms.
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16
We will now use the MathWorks Simulink
Response Optimization toolbox to
determine the optimum value of the
31
determine the optimum value of the
Pressure so that the response of our
model matches the measured response.
Add a part called Signal Constraint from
the Simulink Design Optimization
toolbox.
32
We are going to choose the Pressure signal so that
the rpm of the motor-generator system matches the
constraints. (Or minimizes the difference between
the desired and fitted response.)
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17
Response Optimization
Open the Signal Constraint Block
The plot shown is for having a response fitted
to a set of constraints
33
to a set of constraints.
We have some measured data that we
would like to use for the response.
To use the data select Goals and then
34
To use the data, select Goals and then
Desired Response:
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Set the Reference Signal to the measured
time and rpm data:
35
Time from the measured
waveform.
Rpm from the measured
waveform.
Variables time and rpm
d fi d i th M tl b are defined in the Matlab
workspace.
When you click the OK button, the
measured response will be displayed:
36
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19
Next, we have to select the parameters
that can be varied to achieve the desired
response
37
response.
We have previously defined variable
Pressure in the workspace and gave it a
value of 0.05.
Select Optimization and then Tuned
Parameters from the menus:
Presently no parameters are selected.
38
When you click the Add button, the list of
available parameters defined in the
workspace will be listed.
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20
39
Select the parameter Pressure and click
the OK button the OK button.
Specify the minimum and maximum
values as shown next.
40
The initial value of the
Pressure constant is set to
0 05 the value we gave it
We constrain the Pressure
input to be between 0.01
and 0.05.
0.05, the value we gave it
at the Matlab command
prompt.
Click the OK button when done.
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21
Select the Track reference signal option
so that we optimize to the provided data.
41
Option not
selected.
Option selected.
To make the system track the desired
response more closely, we need to reduce the
tolerance slightly Select Optimization and
42
tolerance slightly. Select Optimization and
then Optimization Options from the menus:
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22
Set the function tolerance to 0.0001.
43
Click the Play button and watch the
optimization proceed:
44
Click here.
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23
Results
45
Lecture 5 Demo 1
Optimum value of Pressure is 0.0224.
46
Demo___________
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24
Friction Model Notes
Our model has a linear change from high
rpm to zero. The actual response looks
like an exponential decay somewhat
47
like an exponential decay somewhat.
Out model of a constant frictional torque is
probably too simple.
Friction is probably a function of rotational
speed.
Stuff to add in the future.
Lecture 5 Problem 1
In Lecture 3A problem 2, we measured the
coast-down of the motor/generator system
with the flywheel.
48
y
Add the flywheel to your model
Use the measured coast-down data from
Lecture 3A as the reference signal.
Use the Response Optimization Toolbox
to determine the optimum value of clutch
pressure for the system with the flywheel.
Demo___________
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Lecture 5 Problem 2
In both models for this lecture (the model with the flywheel and
the one without the flywheel) we noticed that the measured rpm
had a slight curve while the simulated rpm was a straight line.
The simulated response is a straight line because we are
49
The simulated response is a straight line because we are
applying a constant torque which means that the angular
velocity decrease at a constant rate.
To model the curvature in the measured rpm, we will try a new
model.
Modify your model so that the friction has a constant
component plus a component that is proportional to motor component plus a component that is proportional to motor
speed (in rad/sec).
Make both components tunable.
Lecture 5 Problem 2
Use the optimization tool to determine the coefficients for an
optimal fit. You will need to determine two coefficients.
An optimal plot is shown below. The fit is so close that you
cannot see much difference between the measured data and
50
cannot see much difference between the measured data and
the model results in the screen capture.
You may want to change the optimization method to Simplex
search.
You may want to increase your max step size so that the
simulations take less time.
Demo___________
Demo___________
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Any Questions?
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Systems Design
Lecture 6 : Signal Filtering Lecture 6 : Signal Filtering
Signal Modeling
We now need to clean up our model in
terms of the signals being sent to the
controller
2
controller.
Starting with the shaft encoder, it does not
send an rpm signal but rather a voltage
proportional to rpm
Name plate specification: 2.5 V per 1000 rpm
At some point well need to verify this.
Lets add that to the encoder model
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2
Signal Modeling
Drag a gain into the encoder and set the
value to 2.5/1000.
3
4
Actual physical system.
Freescale
MPC555x MPC555x
Development
Board
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3
Improved Signals MPC555x
This 0-8 V signal is next passed through a
combination resistive divider and low pass
filter to
5
Eliminate noise on the signal
Change range to 0-5 V
The circuit diagram is
Improved Signals - MotoTron ECU
From circuit analysis
6
Z R R
Z R
C
V
V
o
+
=
R sCR
R
sC
R
sC
R
Z R
Z R R
C
C
1 V
1
1
V
2
o
in
=

+
=
+
=
+
R sCR
sCR
R
R
2
1
V
2
in
+
+
+
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4
Improved Signals - Controller
Having figured out the appropriate transfer
function to represent our filter and knowing
R =10k
7
R =10k
C =10 nF
Drag a Transfer Fnc block into the
controller from the Simulink / Continuous
library.
Well also need a gain and a saturation
Well need to disconnect the Actual rpm
input from the P controller as well
8
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5
Changes:
Actual rpm Actual rpm (0-8V)
Transfer Fnc LowPass Filter
9
Transfer Fnc Low Pass Filter
Gain 1 Signal level converter (0-5 V to 0-1)
Saturation ->hide name
Link them together
10
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6
Double click on the Low Pass Filter
transfer function and put in the values for
R and C
11
R and C
The numerator
coefficient is the value of
R
The denominator
coefficients are the
multipliers on s and 1
respectively CR
2
and 2R
The last step in the controller is to take the filtered
signal which ranges from 0-5 V and convert it to a
signal of magnitude 0-1
12
Note that our filtered rpm voltage signal has a range of 0
to 4 V.
We will not use the full range of the A/D converter (which
has an input range of 0 to 5 V)
Set the gain to1/5 for the conversion
S t th t ti t li it t 0 d 1 Set the saturation to limits to 0 and 1
Connect the output back to the summing junction.
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13
Renamed Signal
In the controller an rpm of 0 to 4000 rpm is
represented by a signal that ranges from 0
to 1
14
to 1.
We need modify our desired rpm of 1800
rpm to reflect this change.
We will change the desired rpm signal to
0.45 (equal to 1800/4000).
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15
Before we run our model, lets think about
the controller
We initially had our gain at 0 01 because
16
We initially had our gain at 0.01 because
that would yield a full torque signal if the
rpm difference was 100 rpm
Now, 100 rpm is roughly a signal of 0.025
We should expect to increase our We should expect to increase our
proportional gain
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9
Improved Signal - Controller
Lets set our initial condition to zero, the
load to 2 bulbs, the desired rpm to 0.45,
and leave the gain at 0 01
17
and leave the gain at 0.01.
Motor torque effectively
zero. Gain is way to low for
the small difference
between the desired and
t l d actual speed.
Now set the gains to 0.1, 1, and 10
18
Gain =0.1
Gain =1 Gain =10
Small torque
applied.
Better Still better.
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10
Now set the gains to 20, 50, and 100
19
Gain =20
Gain =50
Gain =100
Oscillation Eliminate by
decreasing max step size.
Lecture 6 Demo 1
Demonstrate the system response for
various feedback gains.
Demonstrate the effect of reducingthe
20
Demonstrate the effect of reducing the
simulation maximum step size.
Demo Demo___________
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Model Improvements
Improved motor from constant torque source to
torque dependent on rpm.
Improved generator:
21
Linearly dependent on rpm with constant max load.
Linearly dependent on rpm with variable load.
Linearly based on rpm with physical relationship to
generator voltage and load resistance.
Added friction
C t t Constant
Linear dependent on rpm
Scaled signals to match levels used by
Freescale target.
Model-Based Design
We made the improvements one at a time.
We verified that the system was behaving
22
as we expected after each improvement.
We ran extensive tests to identify changes
in system response due to the
improvement.
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12
Init File
Weve got a lot of magic numbers in our model:
Motor and Generator Inertia
Motor Torque Constant
23
Etc
In a typical model, model constants are reused
in several places.
If we choose to change any of these parameters,
we might miss some of them in the model. g
Lets put these values into an initialization file.
This file will be executed each time we run our
model, before the model runs.
Init File
Open your Matlab window and open a new m-file:
Select File, New, and then M-File from the menus
or click on the New M-File icon as shown below:
24
Click here to create a new
m-file.
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13
Init File
Save the file in the same directory as your
Simulink models.
Save the file as Init_File.m
25
Enter the text shown on the following page
exactly as shown.
Save the file when done.
This will allow us to assign variable names
to parameters inside of our Simulink model
and read those values from the workspace
Init File
26
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14
Init File
Now we need to update our model with the
variable names in the init file
Well start with the lowpass filter
27
Well start with the low pass filter
Save your model as Lecture6_Model3
Open up the controller
Double click on your low pass filter
Change the numbers to variables as shown
on the next page
Init File
[R]
28
[R]
[CR
2
2R]
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Init File
Update the generator as shown:
29
The value of this part was
changed to a constant as
well.
Init File - Generator
30
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16
Init File - Motor
31
Init File - Flywheel
32
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17
Init File
Save your file and run!
33
Hmmm, undefined variable
Init File
We can either run the script file manually to place the
variables into the workspace, or
Have Simulink run the init file automatically each time we
run a simulation (which also places the variables into the
34
( p
workspace).
Right click any place in your model where it is blank
Select Model Properties
Select the Callback History tab
Add Init_File to the InitFcn Model Callback section
Click OK
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Init File
35
InitFcn selected. File added here.
Init File- Lecture 6 Demo 2
Run your model now
It k b th I it Fil b f
36
Demo___________
It works because the Init_File runs before
the model runs, and defines all of the
constants needed by the mode.
From now on, we will define all of our data
and model constants in the init file. and model constants in the init file.
The model will reference the variables
named in the init file rather than use magic
numbers.
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Systems Design
Lecture 7: Time Delays and Proportional Lecture 7: Time Delays and Proportional
and Integral Control
Sample Time Delay
Assess impact of signal delay on system
performance.
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p
PI Control
Add integral control to eliminate error.
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Model Updates
Before we begin, we will update our model
with the coast-down friction components
that we added in Lecture 5 Problem2
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that we added in Lecture 5 Problem 2.
Add the following parameters to the init
file:
Model Updates
Add the proportional and constant friction
components to the plant:
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Model Updates Complete Plant
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Step Response
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Step Input
So far we have been running our model for
short simulation times
We have changed nothing while the
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We have changed nothing while the
simulation is running
Lets slow our system down and watch the
effect of changing the load or desired rpm
Model Name Change
Save your model
Save your model as Lecture7_Model1
Step Input
First, lets slow down our simulation.
On your model, again right click any place where
there is a blank area.
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Select Configuration Parameters
Select the Solver tab.
Change the Stop Time to inf (it will run forever)
Change the Max Step Size and Initial Step
Size to 1e-4 seconds (this will slow it down by ( y
decreasing the maximum step size and forcing
more calculations).
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Step Input
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Step Input
inf run
until we stop it.
1e-4
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1e-4
Solver selected.
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Step Input
Now lets add the ability to change our desired
speed.
Drag a Slider Gain from the Math Operations
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g p
library into the top of your diagram and connect
as shown.
Step Input
Slider Gain
added here.
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Desired
speed
changed to 1.
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Step Input
Double click on the slider gain and set the
lower and upper limits to 0 and 1
respectivelyand slide the slider
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respectively and slide the slider
Awesome we can vary our desired rpm
from0 to 3000 rpmwhile the simulation is from 0 to 3000 rpm while the simulation is
running by moving this slider from 0 to 1.
Step Input
Run your simulation.
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Step Input
We notice two things:
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The simulation runs very slowly.
The motor generator system responds fast
making it difficult to see the step response.
Even with the added flywheel, the system
responds very quickly and makes it difficult p y q y
to a speed change request.
Scope Settings
To see the system response, we need to
change the scopes default x-axis time
range
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range.
The time axis on our scope is 0 to 10
seconds by default.
We need to change the time axis on our
plots.
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Step Input
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Stop the Simulation.
To adjust the x-axis time range, right click j g , g
on the scope plot and select Scope
parameters.
Set the Time range as shown:
Scope Time Range
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Time range set to 0.5. This will force the x-axis to
display a range of 0 to 0.5 seconds.
Rerun the simulation and move the slider.
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Step Input
Pretty cool you can watch the actual rpm try to match the
desired rpm (2 bulb load, Gain =20.) You may need to slow the
simulation even more by reducing the maximum step size to
1e-5.
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Use the signal builder to create the following
pulsed waveform:
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(Continued on next slide.)
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Use this waveform as the rpm input for the controller.
For this waveform, or a slight modification, observe
the systemstep response for the following
Number of Bulbs Proportional Gain Rise Time Fall Time
2 10
2 20
2 50
the system step response for the following
conditions:
2 50
2 100
Demo___________
Step Input
Our physical system has 6 light bulbs.
We would like to see how changing the
load affects the systemresponse
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load affects the system response.
At the top level of your model
Change the constant for the number of bulbs
to 1
Add a slider as shown next.
Set the limits on the slider from 0 to 6
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Step Input
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Slider added here.
Number of bulbs
set to 1.
Step Input
We will now test how our system responds
for changes in the load while holding the
speedconstant
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speed constant.
Set the speed slider to 0.6 and do not
change it.
Run the simulation and observe how the
system response changes as we change
the load slider.
Set the proportional feedback gain to 100.
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Step Input
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Step Input
Increasing the load increase the steady state error.
Decreasing the load decreases the steady state error.
Notice the changes in torque as we change the load.
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Motor cannot maintain
speed at 4 bulb load.
Number of bulbs
increased from 0 to 4.
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Step Input
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Number of bulbs is 3.
Number of bulbs is 6.
Step Input
Decreasing the load.
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Number of bulbs
d d f 4
(Zoom) Error decreases as
bulb load decreases.
decreased from 4
to 0.
4 Bulb Load.
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Create the following waveforms using one of the
Simulink sources. Use this input as the number of
bulbs and plot the systemresponse
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Demo___________
bulbs and plot the system response.
Controller Cycle Time
To this point, our controller measures signals and makes
a change every computational step.
Since this is a variable step size solver, this time
changes as the simulation runs and can be quite small
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changes as the simulation runs and can be quite small.
This is not true in the hardware implementation.
In the real-time hardware realization, the controller performs all
computations within a fixed time.
We will call this time the controller cycle time.
The inputs are read once in this fixed time.
All calculations are performed for the measured inputs once in p p
this fixed time.
The outputs are changed once in this fixed time.
If the controller finishes early, we wait until the fixed time is up
before executing the control loop again.
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The effect of the controller cycle time is:
We can only sample the inputs once in the time
period. If the input changes, we wont know about it
til th t fi d ti t
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until the next fixed time step.
We can only change the output control signal once in
the fixed time period. This limits how fast we can
make a change. (Or, how fast the controller can
respond.)
For control people, this time delay is a For control people, this time delay is a
phase delay in the feedback loop.
This delay can cause the system to
become unstable.
As a first step in modeling this delay , we will use
a sample and hold.
The value will be held for a fixed and specified
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p
amount of time.
We will model the controller cycle time on both
the inputs and outputs of the controller.
In the hardware realization, the fixed time can be
changed at compile time. It can be reduced g p
within limits imposed by your ECU.
In a future lecture, we will run a Software-in-The-
Loop (SiL) simulation to model this delay.
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Save your model as Lecture7_Model4.
From the Signal Processing / Signal
Operations library, drag a Sample and Hold
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p y, g p
block into your controller.
From the Simulink / Sources library, drag a
Pulse Generator into your controller
To start, we will use specify a sample time of
100 ms.
Output control
signal will be changed
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signal will be changed
only once every 100 ms
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To set our 10 ms
trigger, double
click on the
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click on the
Pulse Generator
and set the
Period to 0.01
(10 ms)
This value set to 0.1.
Thinking back to our step input work, we have
introduced a physical step into our system!
The torque request undergoes a step change every
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controller cycle time.
If the cycle time is too long, these steps could be
large.
Larger step changes can be felt or heard.
Lets simulate the system and see if a 100 ms
time step on the output affects the controllers time step on the output affects the controller s
performance.
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Set the following on your model:
rpm slider to 0.6
Load slider to 2 bulbs
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The IC to zero
The feedback gain to 10,
Simulation end time to 1 s
The controller sample time to 0.1 seconds. (A
very long time ) very long time.)
The simulation max step size to 1e-5.
When the simulation runs, you will notice that
it oscillates at a 100 ms rate!
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Controller Cycle Time.
Try reducing the controller cycle time until the
oscillation disappears.
This simulation is for a cycle time of 50 ms
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Controller Cycle Time.
Try reducing the controller cycle time until the oscillation disappears.
I found that a sample time of 20 ms is sufficient to stop the oscillation.
A simulation of this type is necessary to determine how much computing
power we will need to run our controller.
Smaller cycle times require faster hardware targets.
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Smaller cycle times require faster hardware targets.
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Determine the maximum value of Sample
time that can be used to achieve a stable
feedback systemusing the conditions
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Demo___________
feedback system using the conditions
specified below:
No Bulbs 1 Bulb 2 Bulbs 3 Bulbs
Gain =10
Gain =20
Gain =50
Gain =100
Next, we will model the controller cycle
time effect on the input signal.
Remember that the ECU will only sample
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Remember that the ECU will only sample
the input once every cycle time.
Bring in another Pulse Generator and
Sample & Hold and put it on the
generator side just after the low pass filter.
The pulse generator will have the same
properties as the previous one we added.
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Set the period on both pulse generators to 1 ms. Leave
all other setting the same and run a simulation. (Gain =
10, 2 bulbs, max step size =1e-5.
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The system is still stable because we
actually have the same amount of delay
even though the we have two sample
and holds.
In this case the output is based on the
value of the input fromthe previous value of the input from the previous
cycle.
This is because both sample and holds
are triggered at the same time.
In the first example the output was based
on the inputs at the present sample.
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Controller Cycle Time Conclusion
Controller cycle time adds delay to a
feedback loop that can cause a system to
oscillate or overshoot
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oscillate or overshoot.
We can alleviate some of these affects by
changing the gains of our system.
To model a system, we should include all
sampling delays
Controller cycle time.
CAN message rates.
Other.
Proportional and Integral
Control
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PI Control
One of our goals is to design a controller for our
system.
Now that we have a good plant model, we can
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use all of our knowledge of control systems to
design controllers. (And simulate them!)
We will look at adding an integrator to our
system because:
A proportional gain controller yields an error that is
inversely proportional to the gain inversely proportional to the gain.
Too high of a proportional gain can make the system
oscillate.
Update your model to version Lecture7_Model6.
PI Control
Set your Controller Cycle Times back to 1 ms
Set your proportional gain to 10, the desired
rpmslider to 0 6 and the load slider to 2 bulbs
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rpm slider to 0.6, and the load slider to 2 bulbs.
Steady state
error.
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PI Control
To reduce this error we will add an
integrator to our controller.
We could use a continuous time integrator
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We could use a continuous time integrator
for Simulink simulations.
When we implement our controller on an
ECU, a discrete solver is usually used and
a continuous integrator will not work.
We will use a discrete time integrator.
PI Control
From the Simulink / Discrete library drag in a
Discrete-Time Integrator
Drag in a gain and a sum as well
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g g
Hook up as shown below and on the next slide
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PI Control
And added to the P gain
to reduce SS error
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Error is integrated over
the current time step Multiplied by the I Gain
to reduce SS error
the current time step Multiplied by the I Gain
Discrete Time Integrator
This integrator performs a forward Euler
method. (Basically a sum of rectangles.)
The block implements the sum
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The block implements the sum
y(n) = y(n-1) + K*T*u(n-1)
K is the gain and is equal to 1 for our
application.
T is the sampling period (the time between T is the sampling period (the time between
samples).
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With K=1 we have the equation
y(n) = y(n-1) + T*u(n-1)
Th t t t i th i t t
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The present output is the previous output
plus the previous input times the time slice
T
Note that T*u(n-1) is the area of a
rectangle. rectangle.
We are summing up rectangles.
Set the integrator properties as shown
next.
Discrete Tim Integrator
Gain set to 1.
Sample time set the
same as for our
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Integrator
starts at 0.
When we deploy this
controller on the ECU,
the integrator sample
time will be the
We should probably
define this in our init
file and use it for the file and use it for the
integrator and two
pulse generators.
Do that!
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Discrete Tim Integrator
Integrators can integrate to infinity (it
takes a long time!)
Suppose we turn on too many bulbs.
The motor is not strong enough to
reach the desired rpm and the error
will be large.
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will be large.
The integrator will integrate this error,
possibly for a long time until you
change the number of bulbs.
If the integrator does not have
saturation limits, the integrator will
integrate to a large value.
When you do finally turn off a bulb,
the integrator value decreases slowly
and causes the motor to spin wildly
until the integrator has time to
integrate back to an appropriate value.
This overshoot is called integrator
wind up.
To prevent it, add saturation limits.
Run a simulation with a proportional gain of 10 and in
integral gain of 1, load =2 bulbs, and a desired speed of 0.6.
Let the simulation run for 1 second.
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Error still here. But it appears that
the error is slowly decreasing?
It appears that the torque is
slowly increasing?
Integral gain signal is
increasing slowly?
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Error still here But it appears that
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Repeat the simulation run for 10 second.
Error still here. But it appears that
the error is slowly decreasing.
It appears that the torque is pp q
slowly increasing.
Integral gain signal is increasing.
Change the simulation to allow it to run for
20 seconds.
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The error does go to zero, but very
slowly because the integrator gain
is small.
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Next, set I_Gain =10, and P gain =10. This
should make the integrator respond faster.
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System responds faster.
Note time scale.
Next, set I_Gain =100, and P gain =10. This
should make the integrator respond faster.
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Faster response and overshoot.
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Lecture 7 Demo 1
Demo your PI controller.
Show how changing the P and I gains
affect the systemresponse
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affect the system response.
Demo___________
For the previous simulations, we were near the
power limitations of the motor.
We will do some testing at a new set point
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Set the following:
Desired speed slider =0.3
Number of bulbs slider =1
Initial condition =0
All sample times =0.001
Simulation time set appropriately.
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P_Gain =10, I_Gain =0
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Proportional gain control test. We see constant
error as expected.
P_Gain = 10, I_Gain = 1.
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The error does go to zero, but very
slowly because the integrator gain
is so small.
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Error goes to zero
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Error goes to zero
faster.
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Overshoot for larger values of Overshoot for larger values of
integral gain.
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Significantly more overshoot. (We might be able to change this my
changing the order of the integrator and gain blocks.
Repeat the previous procedure for different values of
proportional gain.
Determine the proportional and integral gains to achieve a plot
close to the one below
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Demo___________
close to the one below.
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I like the system response with P_Gain =
100 and I_Gain = 10.
We will hold these gains constant and hold
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We will hold these gains constant and hold
the number of bulbs constant at 1 bulb.
We will observe the system response as
we change the speed slider between 0
and 0.6.
Change the simulation ending time to inf
and decrease the max simulation step size
to make the simulation run slowly.
System response to speed change
requests.
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Next, keep the speed slider constant at 0.3
and change the bulb load from 0 to 6.
Vary the load up and down
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Vary the load up and down.
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Load changes.
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PI Controller
Feel free to experiment with the controller
gains to see their effect.
Tuningis the process of choosing the
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Tuning is the process of choosing the
gains to achieve the desired response.
With this PI controller, we have a lot of
flexibility.
Lecture 7 Demo 2
Demo your PI controller with 1 bulb load.
Show how changing the P and I gains
affect the systemresponse
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affect the system response.
Determine values of P and I gains for
optimum response.
Demo___________
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Investigate the difference between the two controllers below. Note that
the order of the integrator and gain has been switched in the two
models:
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Investigate the difference in these two methods for:
1. The affect of the placement on overshoot at high gain.
2. The affect of the placement on changing the integral gain while the
system is running.
Demo___________
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Any Questions? Any Questions?
Start Project 1
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Systems Design
Lecture 8: Lecture 8:
xPC Real-Time Systems 1
Outline
Setting up an xPC Target
Running Real-Time Simulation
Proportional Control Model
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Proportional Control Model
Integral Control Model
Tuning Parameters
Using xPC Explorer
Blocks and Gauges Blocks and Gauges
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Real-Time Simulations
We would like to run real-time simulations
for several reasons:
Further debug our controller and model
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Further debug our controller and model.
Obtain a feel for how the model responds in
real-time.
Tune the control parameters for a desired
response.
See ho changing inp ts and model See how changing inputs and model
parameters affect model and controller
operation.
Terminology
Host Computer The computer where you run
Matlab. The real-time model will not run on this
computer. We will create our models on this
computer
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computer.
Target Computer (Platform) The computer on
which our real-time model will run.
We will use the host computer to communicate
with and monitor the target.
The target computer can run the plant, the The target computer can run the plant, the
controller, or both depending on the type of
verification we want to do.
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What is xPC
xPC allows you to use a personal
computer as a real-time target.
Inexpensive
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Inexpensive
Most of us have an older PC we can use.
Communication through TCP/IP or RS-232
Can tune parameters
Supports I/O hardware in PC such as A/D Supports I/O hardware in PC such as A/D,
D/A, DIO, CAN, etc
What You Need (For this course)
An Old PC (can be almost any PC with an Intel
386 or 486 Pentium or AMD K5 or K6/Athlon
processor)
A fl di k (N t i d )
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A floppy disk (Not required anymore)
Microsoft Visual Studio 2005 or Open Watcom
C/C++(Version 1.3)
An Ethernet Card
Card Specifics (Driver/Slot type)
Network Specifics Network Specifics
IP Address
Gateway Address
LAN Subnet Mask
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Setting Up xPC
For our example, well use a PC with a
Pentium III and an Ethernet card.
Fromthe Matlab prompt type the
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From the Matlab prompt, type the
command >>xpcexplr
This will allow us to both setup and
monitor the target PC.
Visual Studio Compiler
First, we will select the compiler. We will
assume that you are using the Microsoft
Visual Studio 2005
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Visual Studio 2005.
We will assume that you have already
installed the Microsoft compiler and that it is
installed in directory C:\Program
Files\Microsoft Visual Studio 8.
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The compiler is specified using the xPC
Explorer.
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Compiler configuration
selected.
the the Microsoft Vasual C
compiler is installed.
If you have Microsoft Visual Studio 2005
installed, your settings will be as shown:
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Compiler Configuration
specified.
the Visual C compiler is
installed.
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Default name of the target
PC is TargetPC1.
Click on the plus sign to
expand the tree.
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Click here to specify the
The first thing we will do is specify the communication
options for our target
your target.
options for our target.
Click on the Communication selection in the tree.
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Selections are hardware dependent.
Communication tab
selected.
Obtain network information from you network
administrator if you do not know it.
We will look briefly at some of these options.
xPC Setup
We can specify communication through an
RS-232 cable or a TCP/IP connection:
We will select the TCP/IP connection
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We will select the TCP/IP connection
Select communication
settings here.
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xPC Setup
Specify the IP addresses for your target
system.
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Always set to
IP address of your target
machine. For RHIT targets
in the MBSD lab, boot up
the computer in Windows
and find the IP address and
gateway address. (All of the
xPC computers have fixed
IP address, so it will not
Specify the gateway
address for your network.
Always set to
255.255.255.0.
IP address, so it will not
change.)
xPC Setup
For the Ethernet card, we need to know
the card chip set and the bus type (ISA or
PCI) into which the card is plugged
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PCI) into which the card is plugged .
If you do not know this information, you
might be able to use the Windows Device
Manager to find it.
A list of the supported Ethernet cards can
be found in the Matlab xPC help with the
following topic: Ethernet Chip Families
Supported by xPC Target
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Contents tab selected.
Help Selection
xPC Setup
Select the driver/chip set for your Ethernet
card:
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Select Ethernet card chip
set here. For the RHIT
MBSD lab, select R8139.
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xPC Setup
Select the type of bus into which the
Ethernet card is plugged:
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Ethernet card bus selected
here.
xPC Setup
Next, select Settings.
Since our model is small, we will use the
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Settings selected. Maximum model size
specified here.
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xPC Setup
Next, we will create a boot floppy for our
target PC.
Hopefully your host PC (the one running
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Hopefully your host PC (the one running
Matlab) has a floppy disk drive.
Hopefully you can find a floppy disk.
Select Configuration in the tree:
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Configuration selected.
Click here to create the
floppy boot disk.
Click the Create Bootdisk button.
Note that everything on the disk will be erased.
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xPC Setup
Incase you havent used a floppy disk in
the past several years, remember the
following:
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following:
You may need to format the disk before
clicking the Create Bootdisk button.
Make sure that the write protect switch on the
disk is set to allow writing (you should not be
able to see through the hole ) able to see through the hole.)
xPC Setup
When you click the Create Bootdisk
button, you should see the dialog box:
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As the disk is created, you should see the
dialog box:
When done, the dialog box will disappear.
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xPC Setup
Next, place the bootdisk in your target PC
and turn it on.
Your target PC should display a screen
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Your target PC should display a screen
similar to the one shown next.
You can ignore the error about no
accessible disk. We will not be using the
target PCs disk.
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Well ignore this.
Next, switch back to the
xPC Target Explorer
window window.
Right click on the text
TargetPC1.
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Wait a few moments for your target PC
to register on the network.
Right-click here.
Select Connect from the menus.
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No red x here.
If your setup was successful and your target
computer registers on the network:
1) The red x next to TargetPC1 should
disappear.
2) You should be able to explore the target ) p g
PCs hardware with the Target Explorer.
3) You should be able to see the files on the
floppy disk.
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xPC Setup
Our target setup is now complete.
We are now ready to modify our model to run on the
target computer.
W ill h d l i h i l f db k
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We will use the model with proportional feedback as a
starting point.(Passed out as Lecture8_Model0.mdl)
Later, we can use the same process to simulate our
more complicated feedback models.
Open the model with proportional feedback and then
rename it Lecture8_Model1.mdl.
Make sure that this model has the flywheel inertia in it,
with the inertia specified as 10
-4
m
2
kg
Model Modifications
Add sliders for the speed and number of
bulbs.
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Model Modifications
Remove the Sample and Hold locks we
added to model the controller response
time
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time.
These delays will be modeled by the fixed
step size.
Model Modifications
Controller Block
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Sample and Hold removed.
Sample and Hold removed.
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Parameters from the Simulink menus
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There are a number of parameters we
need to change.
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following parameters
Type: Fixed-step
Solver: ode4 (Runge-Kutta)
Fixed-Step Size: 0.001 (1 ms time step)
These selections are shown on the
following slide.
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Ode4 solver selected.
Fixed step solver selected.
Time step =1 ms Time step =1 ms.
Solver selected.
Next, select the Real-Time Workshop tab:
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Click here to select the
target.
Real-Time Workshop
selected.
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We need to specify that we will be using a
xPC target as our target system.
Click the Browse button select the file
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Click the Browse button, select the file
named xpctarget.tlc, and then select OK.
Your dialog box should look as shown.
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We do not need to make any other
changes.
However we will look at the xPC Target
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However, we will look at the xPC Target
options tab to see some other options that
control behavior we will see.
Select the xPC Target options tab.
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After we build our model, it
will be automatically
downloaded to the target.
The model will be
downloaded to the default
target, which is named
TargetPC1.
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The Configuration Parameters are now
complete so click the OK button to accept
the settings
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the settings.
Next, we need to place some xPC scopes
in our model.
Open the Simulink Library Browser by
selecting View and then Library Browser
from the Simulink menus or clicking the
Library Browser button
The xPC Target library is down at the

bottom of the list.
Click on the + to expand the library:
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Click on the + to expand the library:
xPC Target library way
down here.
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Take a minute to explore the library.
Notice that there are both utility blocks like
scopes as well as hardware blocks from
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specific hardware vendors.
We are looking for the xPC Scope which is
in the Misc library:
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These blocks ill These blocks will
display a trace on
the target PC
screen.
Place two scopes Place two scopes
in your model as
shown.
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Model Changes
In the controller, we want to show the
desired speed and the motor actual speed
on the same plot
45
on the same plot.
Modify the controller block as shown:
Note: We will be using a
proportional gain of 50.
Model Changes
Next, double-click on the Target Scope
block and make the changes below.
46
This changes howthe plot updates This changes how the plot updates.
You can try different settings to see
the effect.
I expect these signals to be between 0
and 1.
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Model Changes
Other Target Scope block parameters:
47
We specified a step size of 1 ms. With p p
a decimation of 100, our scope will
only record 1 point for every 100
steps. Thus, our scope will only have
a point every 0.1 s.
The total number of points on the
scope screen will be 500. Since we
have a point every 0.1 s, the scope
will display 50 seconds of data.
Model Changes
Place another scope in the Shaft Encoder
subsystem of the plant and display the Motor rpm
48
y p p y p
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Model Changes
Make the same changes to the Target
Scope block as we did before, except let
the y axis range from0 to 3000:
49
the y axis range from 0 to 3000:
We are now ready to
build our model.
Type ctrl b in the Type ctrl-b in the
Simulink window to
build and download the
model.
Model Changes
Open The Signal & Scope Manager
Delete all of the scopes that we created.
(Th ill M tl b i
50
(The scopes will cause Matlab errors in
the command window.)
(The simulation will still run if you do not
delete the scopes.)
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51
With this window
open, type ctrl-b to
build and download
the model.
You can also select
Tools / Real-Time
Workshop / Build
Model fromthe
After typing ctrl-b, switch
Model from the
Simulink models.
yp g ,
to the Matlab command
window to monitor the
progress.
52
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53
If the build is successful,
the model will be
downloaded to the target
PC.
WatcomCompiler Bug Fix
If you are using the Watcomcompiler, you
will receive the error below:
54
Click the Close button.
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You will need to compile and download the
model to the xPC target manually.
In the Matlab windowchange to directory
55
In the Matlab window change to directory
Motor_Control_P_xPC1_xpc_rtw and edit
the file named Motor_Control_P_xPC1.bat
To edit the file, right click on the file name
Motor_Control_P_xPC1.bat and then
select Open :
56
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A text editor should run and display the
text file:
57
Go to the end of this line Go to the end of this line
and add the text
OPT_OPTS=
58
Text added here.
Save the changes and close the batch file.
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Next, we need to run the batch file by
entering the command
!Motor Control P xPC1 bat at the Matlab
59
!Motor_Control_P_xPC1.bat at the Matlab
command prompt.
When the compilation process is complete,
you will need to download the model to your
xPC target computer using the xPC Explorer.
60
Change back to your working directory.
Open up the windows explorer (if it is not
already open) by typing xpcexplr at the
Matlab command prompt.
Connect to your xPC target.
The available xPC models should be listed in
the xPC Explorer window.
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61
To download the model to your xPC target
t i ht li k th t t
Models available for download.
computer, right-click on the text
Motor_Control_P_xPC1.dlm and select
Download:
62
The model should download and you y
should be at the same point as if the build
process did not encounter an error.
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Model Execution
If you were successful, your model should
be downloaded to your target PC.
If you have a monitor on your PC you
63
If you have a monitor on your PC, you
should see the following screen.
64
Name of model presently
loaded on target.
xPC Scope 1 displaying
measured and desired rpm
control signals.
xPC scope displaying
the measured rpm.
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65
Y axis range is 0 to 1 at
X-axis scale is 10 seconds per division. We
specified 500 samples for the x-axis with a
decimation 100. With a simulation step size of 1
ms, a decimation of 100 means that there will be
1 point recorded every 0.1 seconds. We
specified that the plot will display a total of 500
samples, so the x-axis will display 50 seconds of
Y-axis range is 0 to 1 at
0.2 per division.
data. Note that there are 5 divisions on the x-
axis at 10 seconds per division.
Y i i 0 3000 Y-axis range is 0 to 3000 rpm
at 500 rpm per division.
Model Execution
We are now ready to run the model on our
target PC.
66
on a an external target.
Select Simulation and then External from
the Simulink Menus.
The tool bar should showthat you have The tool bar should show that you have
selected an external target.
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67
Note that this specifies an
external target.
Note this button. This is the
connect to external target co ect to e te a ta get
button.
Model Execution
Note that a new button has appeared.
This button means connect to external
target
68
target.
Next, we must connect to the external
target.
Click on the button, or select
Simulation and then Connect to Target Simulation and then Connect to Target
from the Simulink menus.
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Model Execution
You might ask, how does Matlab know
which target to connect to.
In the Simulation Parameters setup on the
69
In the Simulation Parameters setup, on the
xPC tab we specified to automatically
download the model after building, and we
specified that it should use the default
target.
In the xPC Explorer, we specified
TargetPC1 as the default target.
Thus, our model will run on TargetPC1.
Model Execution
After connecting to the target, the play
button should become available:
70
Click on the play p y
button to start the
simulation on the
remote target.
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Model Execution
Before we start the model, we will open
the sliders and set both to zero.
This will make all of our simulations start
71
This will make all of our simulations start
at the same point.
You may want to arrange your screen as
shown on the next slide to make it easy to
change the inputs to the model.
Model Execution
72
Both sliders
set to zero.
Both sliders open and not on
top of the model window.
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Model Execution
When you click the play button, you should
see the screen below:
73
M d l h Model has
been
running for
9.10 s.
Everything is y g
zero. Expected
since inputs are
zero.
Model Execution
Change the speed slider and observe the
operation of the model.
Keep the number of light bulbs at zero (no
74
load).
The next few slides will show the operation
of my model as the speed slider changes.
Note that the desired speed is the value of
the speed slider the speed slider.
Proportional Gain set to 10.
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75
Lecture 8 Demo 1
Initial xPC real-time system response.
76
Demo___________
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39
Model Execution
In the previous slide:
In the top trace, the desired speed (the value
of the slider) is shown in yellow.
77
of the slider) is shown in yellow.
We see that the actual speed follows the
desired speed closely except for very high
speed requests.
We also see that the system reacts very
quickly This is expected fromour SIL quickly. This is expected from our SIL
simulations, and our physical understanding
of the system (ultra-low inertia motors).
Model Execution
Next, we will show the effect of changing the
load on the motor.
Set the speed so that the motor rpm is about
78
p p
1500 rpm with no load.
On my model, this corresponds to:
Number of Light Bulbs =0.
Speed 0.4
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40
79
S ll b l d d i d d Small error between actual and desired speed.
Motor speed close to 1500 rpm.
Model Execution
Next, leaving the speed constant,
experiment with changing the number of
light bulbs
80
light bulbs.
Note that the speed is held relatively
constant until the load becomes too large
for the motor to drive.
When the load is too high, you will see the
motor rpm drop off.
Increase the bulb load from 0 to 6 bulbs
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81
4 Bulbs.
6 Bulbs. 5 Bulbs.
1 Bulbs.
0 Bulbs.
2 Bulbs.
3 Bulbs.
Speed relatively constant even though the load is changing.
Lecture 8 Demo 2
Constant speed, variable load testing.
82
Demo___________
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42
Scope Display
For a proportional feedback system, we
know that as we change the load, the error
betweenthe desired and actual speed
83
between the desired and actual speed
should increase.
A large proportional gain will reduce the
error, but the error should increase as we
increase the load.
For a bulb load of 0 to 2 bulbs, we do not
see much change in the rpm and because
of the scale of the plots.
Scope Display
If we want a better look at what is
happening to the motor speeds, we need
to change the y-axes of the two plots
84
to change the y axes of the two plots.
There are two ways we can do this:
Change the properties of the target scope
blocks in the Simulink model. (This requires
us to rebuild and download the model.)
U th PC T t E l h Use the xPC Target Explorer can change
the axes in real-time
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Scope Display
Set the bulb load to zero so that the rpm is
close to 1500 and the actual and desired
speeds are close to 0 4
85
speeds are close to 0.4.
Open the xPC Target Explorer.
If it is not already open y p
Type xpcexplr at the Matlab command
prompt.
Connect to the target named TargetPC1
86
Connected to
TargetPC1.
Time changes
here as the model
is running.
Same information
as displayed on
the target screen
E d thi
the target screen.
Expand this
portion of the
tree.
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Scope Display
Expand the portion of the tree labeled xPC
Scopes.
Two target scopes should be shown:
87
Two target scopes should be shown:
These are the scopes displayed on the xPC
Target screen.
One Host Scope display is shown.
This was a Simulink scope we created with the
Signal and Scope Manager.
88
Target Scopes.
Cli k S 1 Click on Scope 1 to
select it and change its
properties.
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89
You can change the
display mode here if you
want to see the different
t f l t
Change the y-axis
limits here.
types of plots.
Scope 1 selected.
Scope Display
For Scope 1, change the limits from [0 1]
to [0.34 0.45]
Click the Apply button to send the
90
Click the Apply button to send the
changes to TargetPC1.
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91
Changed to [0.34 0.45]
Click here.
92
After clicking the Apply button,
the y-axis limits on our target
have changed.
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47
Scope Display
Use the same process to change the y-axis
limits on Scope 2 to be from 1300 to 1700.
93
After clicking the Apply button,
the y-axis limits on our target
have changed.
Model Execution
We can now see the performance of our
controller with light loads more closely.
We will keep the speed constant at 1500
94
We will keep the speed constant at 1500
rpm (Speed = 0.4) and vary the load from
0 to 3 light bulbs.
The performance of my system is shown
on the next slide.
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95
Steps show the bulb load
changing from 0 to 3 bulbs.
Results Summary
The proportional gain controller appears to
work ok with a gain of 10.
As the load is changed from0 to 3 bulb
96
As the load is changed from 0 to 3 bulb,
the speed only changes by about 170 rpm.
When the load becomes too high, the
motor reaches its maximum power output
and can no longer keep the motor speed
constant. (We really need to verify this
conclusion by plotting the motor torque).
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Proportional Gain
Test Your system performance with higher
Gains:
Proportional Gain =20
97
Note that you can change the gain in real-
time while the simulation is running.
The Next Slide shows the system
performance for 3 bulbs at 1500 rpm and
gains of 10, 20, 50, 100.
98
No Load.
Gain =10.
Gain =20.
Gain =50.
Gain =100.
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50
Lecture 8 Demo 3
System response for constant load,
constant speed, variable feedback gain.
99
Demo___________
Any Questions?
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System Stable
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System Probably Unstable
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System Unstable
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System Stable
1
Lecture 9 Problem 1
The plots demonstrated in this lecture were for our motor-
generator system without the flywheel.
For the problems in this section, we would like to use the
transfer function fromthe systemwith the flywheel
1
transfer function from the system with the flywheel.
In lecture 4 problem 1, we measured the frequency response
plot of the motor-generator system including the flywheel.
Determine the transfer function of this system from the
measured frequency plot.
Show the magnitude frequency plot whence your transfer
function was generated.
Answer___________
Lecture 9 Problem 2
For a feedback gain of 1, determine the largest fixed
time step where the system will be stable (0.1, 0.01,
0.001, 0.0001)
2
Show gain and phase plots using Matlab.
The plots should be displayed in the same manner as
shown in the notes for lecture 9.
Gain and plots___________
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Lecture 9 Problem 3
For a feedback gain of 10, determine the largest fixed
time step where the system will be stable (0.1, 0.01,
0.001, 0.0001)
3
Lecture 9 Problem 4
For a feedback gain of 100, determine the largest
fixed time step where the system will be stable (0.1,
0.01, 0.001, 0.0001)
4
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Systems Design
xPC Real-Time Systems 2
xPC - Demo
Throughout this lecture you will need to
use the xpctargetspy command to obtain
copies of the xPC target screen while your
2
copies of the xPC target screen while your
model is running.
Print the screens out and turn them in as a
single handout.
XPCTARGETSPY
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Integral Controller Class Exercise
For our next exercises, we would like to
use the PI controller developed earlier and
runit on the xPC real-time target
3
run it on the xPC real time target.
Open the model Lecture8_Model1.mdl.
Save the file as Lecture10_Model1.mdl
The top level model should be as shown.
4
Slider Renamed.
Slider and Constant Renamed.
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3
Integral Controller
Add the integrator we developed earlier in
our SIL simulations.
5
Make the Following Modifications
Set the Simulation Configuration Parameters
for:
6
a fixed step size of 1 ms using the ode4 solver
xPC Target on the default target
Add xPC Target scopes to display the
following:
Motor rpm
Controller desired speed and actual speed
Proportional Gain and Integral Gain signals
(Specify a scope y-axis range of -2 to 2).
Use same settings as in the previous simulation
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4
7
Controller
P Gain =1, and I Gain =10 and
renamed P_Gain and I_Gain. (Note
the underscore in the names.)
Both sample and hold blocks
removed. Why?
Controller Model
8
Signal Name added
here for xPC Scope.
Signal Name added
here for xPC Scope.
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9
Plant Shaft Encoder
Signal Name added
here for xPC Scope.
xPC Scope Block Modifications
10
Make the changes below
in all three xPC scope
blocks in the model.
Value changed.
Value changed.
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Run the simulation on your xPC Target.
Note the following
The integral gives us over and undershoot
11
The integral gives us over and undershoot.
The integral causes ringing.
The integral drives the error to zero in steady
state. (Even with small proportional gain.)
The following screens show the g
performance of my system.
Lecture 10 xPC 1
Obtain a copy of the next screen using the
xpctargetspycommand.
12
XPCTARGETSPY
Hint: Instead of using
a slider, you may
want to use a more
repeatable input
waveform.
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13
Measured
speed signal.
Desired speed
signal.
Integrator signal.
Zero error.
Desired speed input changed.
Load held constant at zero
load.
P_gain =1, I_Gain =10.
Lecture 10 xPC 2
14
XPCTARGETSPY
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8
15
1 Bulb. 3 Bulbs.
0 Bulbs.
Desired speed input
constant at 1500 rpm.
Load changed.
Desired speed input
Load changed from 0 to 3
bulbs.
P_gain =1, I_Gain =10.
16
4 Bulbs.
6 Bulbs.
Desired speed input
Load changed.
Desired speed input
Load changed from 3
to 6 bulbs.
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Parameter Tuning
This more complicated PI controller had a
number of interesting characteristics.
We will use parameter tuning to change
17
We will use parameter tuning to change
controller parameters (such as the
proportional or integral gain).
Parameters can be changed while the
simulation is running.
The ability to change the controller
parameters on the fly gives us the ability to
tune the controller to a desired performance.
Parameter Tuning
There are two ways we can tune
parameters:
Using the xPC Target Explorer
18
Using the xPC Target Explorer
Connecting the Simulink model to the model
running on the xPC target and changing
model blocks.
Both methods allow us to change model
t hil th d l i ti i parameters while the model is executing in
real-time on the xPC target.
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Parameter Tuning
We will use xPC Target Explorer to see
what parameters are tunable in our model.
Assumingthat our PI model is loaded on
19
Assuming that our PI model is loaded on
the TargetPC1, connect to the model with
xPC Target Explorer.
If your model is not loaded, build your model
so that it is automatically loaded on the
d f lt t t default target.
Expand the tree under Model Hierarchy
20
Model
Hierarchy tree
expanded.
Controller
subsystem.
Plant
subsystem.
Slider in the
top level.
Slider in the
top level.
Desired Speed and One
Bulb Load are tunable
parameters in the top level.
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21
Parameter Tuning
Expand the Controller to see the tunable
parameters in the controller subsystem.
22
Controller subsystem
Tunable parameters in the
controller subsystem.
y
expanded.
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23
Parameter Tuning
The xPC Target Explorer allows us to find out
which parameters in the model we can change.
(We can also use the xPC Target explorer to
24
change the parameters, but we will do this later.)
We will use the Simulink model to change the
values of Proportional Gain and Integral Gain
while the simulation is running.
Close the xPC Target Explorer.
Connect your Simulink model to the XPC Target
model and then run the simulation.
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Model Parameter Tuning
While the simulation is running:
Open up the two sliders for the load and
desiredspeed
25
desired speed.
Set both sliders to zero.
Open up the controller subsystem.
A nice arrangement for the windows is
shown on the next slide shown on the next slide.
26
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Parameter Tuning
Before we change any parameters, lets
run a step response with no load.
Leave the load slider at 0 bulbs
27
Leave the load slider at 0 bulbs.
Change the desired speed slider to 0.4 and
observe the results.
28
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Parameter Tuning
Next, lets change the proportional gain to
10.
Leave the model running
29
Leave the model running.
Set both sliders back to zero.
Next, double-click on the Proportional Gain
block and change its value to 10.
Click the OK button to accept the changes.
30
Double-Click
here.
Change to 10 g
and click the
OK button.
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Parameter Tuning
Once again, run a step response with no
load.
Leave the load slider at 0 bulbs
31
Leave the load slider at 0 bulbs.
Change the desired speed slider to 0.4 and
observe the results.
32
No overshoot and ringing is
gone.
Proportional
control signal
much larger than
in the previous
simulation.
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33
System response with
a proportional gain of
100. Integral gain
unchanged at 10.
34
Integral signal.
Same gains as
previous slide.
Load set to two bulbs.
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Model Parameter Tuning
The model appears to behave very well
when we increase the proportional gain.
For our next experiment set:
35
For our next experiment, set:
Proportional Gain to 1.
Integral Gain to 100.
Run the step response with no load.
36
More overshoot. However,
the integrator has a saturation
limits.
This limits are removed in the
next slide.
P G i 1 I G i 100
Oscillation?
P Gain =1, I Gain =100.
Step response with no
load.
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Lecture 10 xPC 3
37
XPCTARGETSPY
38
Obviously, we
need the integrator
saturation limits.
We will put them
back in.
Integrator Saturation limits
removed. We see a
overshoot, then over and
undershoot oscillations.
P G i 1 I G i 100 P Gain =1, I Gain =100.
Step response with no
load.
Integrator saturation limits
removed.
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39
Step response with load =
1 bulb.
40
2 bulbs.
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21
Model Results
From our results we can make the
following observations about our physical
system
41
system.
It is a single pole system that can be
controlled easily with proportional gain.
The integrator causes overshoot and ringing.
If we can increase the proportional gain to
very large values: very large values:
The difference between desired and actual speed
will become very small.
The integrator can be eliminated.
Notes
We only changed tuning parameters in our
controller.
We can easily use parameter tuning to
42
We can easily use parameter tuning to
observe how various plant values affect
the operation of the system as well.
Most plant parameters have tolerance. We
can observe the effect of changing plant
parameters using the method described
here.
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xPC Explorer
We will now show a few techniques using
the xPC Explorer.
We will showhowto
43
We will show how to
Load a Model
Run a Model
Tune Parameters
We will start assuming you just started g y j
xPC and Matlab, so
Reboot your xPC target and restart Matlab
xPC Explorer
When Matlab restarts, change to the
working directory where our motor control
files are located
44
files are located.
Do not run Simulink.
Run xPC Explorer by typing xpcexplr at
the Matlab prompt.
Working directory.
xPC model we built
earlier. We can
download an run these
from the xPC Explorer.
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xPC Explorer
First, we need to connect to the xPC Target
computer.
Right click on TagretPC1 and select Connect.
45
xPC Explorer
46
Target
connected.
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xPC Explorer
Once connected, we want to download the
model with the PI controller.
Right click on the model you want to
47
Right-click on the model you want to
download (Lecture10_Model2.dlm) and
select Download to Target TargetPC1:
xPC Explorer
The target screen should show 3 plots as
shown below.
48
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xPC Explorer
If you expand the TargetPC1 tree, it
should indicate that the model is loaded.
49
Model loaded on target.
xPC Explorer
To start the model, right-click on
Motor_Control_PI_xPC1 in the TargetPC1
tree and select Start:
50
tree and select Start:
Right-click here.
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xPC Explorer
You model should now be running on the
target:
51
Time indicates that the
model is running.
xPC Explorer
We will now use the xPC Explorer to set
the inputs to zero.
Expandthe Model Hierarchytree as
52
Expand the Model Hierarchy tree as
shown:
The Number of Bulbs
branch and the Speed
branch are the sliders in branch are the sliders in
the top level of our
model.
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53
xPC Target
Changing the parameters in the xPC
Explorer is the same thing as moving the
sliders in the Simulink model when the
54
sliders in the Simulink model when the
Simulink model is connected to the target
model.
To see the value of a parameter, and
possibly change it, select the parameter.
First, select the Slider Gain parameter in
the Number of Bulbs system
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55
The present value of my slider The present value of my slider
gain is 0. Yours could be different
depending on its value the last
time you built the model.
Parameter selected.
xPC Explorer
We will leave the load at zero. If the
number of bulbs in your model is not zero,
youcan followthe procedure shown in the
56
you can follow the procedure shown in the
next few slides to change it to zero.
Next, we will look at the Speed slider gain.
Select the parameter to display its value.
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57
The present value of my slider
Parameter selected.
The present value of my slider
gain is 0. Yours could be different
depending on its value the last
time you built the model.
The next thing we want to do is
change the value of this
parameter.
58
Double-click here to enable
editing the cell.
Cell value can now be changed.
Value changed to 0.4. Then g
press the Enter key.
Cell after pressing the enter key.
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xPC Explorer
After pressing the Enter key, the Update
Parameter button becomes enabled:
59
This button now enabled.
xPC Explorer
When you click the Update Parameter
button, the parameter change will be
downloadedto the model on your xPC
60
downloaded to the model on your xPC
target.
Since the model is running, you will see
the change in real-time.
Since the parameter we are changing is
the speed, you will see the motor speed
change in response to parameter change.
My xPC Target screen is shown next.
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61
P G i 100 P Gain =100
I Gain =10.
0 bulbs.
xPC Target
We can use this method to change any of
the changeable parameters in the model.
You can see all of the available
62
You can see all of the available
parameters by expanding the Model
Hierarchy tree.
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63
We changed the Integral Gain
and Proportional Gain
parameters using the previous
th d f t t i method of parameter tuning.
xPC Target
We will show a few last commands that we
can use with the xPC Target Explorer.
To stop the model running on our xPC
64
To stop the model running on our xPC
Target computer, right click on
Lecture10_Model2 and select Stop
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65
Right-click here.
Model execution terminated.
xPC Explorer
To unload the present model from our xPC
Target computer, right click on
Lecture10 Model2 and select Unload
66
Lecture10_Model2 and select Unload
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67
Right-click here.
Model unloaded.
Gauges Blockset
For our last example of this section, we
will show how to use the Gauges Blockset
toolbox to display the real-time
68
toolbox to display the real time
performance of our model.
Save model Lecture10_Model2.mdl as
Lecture10_Model3.mdl.
Make the changes to the top level as
shown next.
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Modifications to Model
69
Changed. Slider deleted.
Constant block renamed to
Speed. Value set to 0.
Changed. Slider deleted.
Constant block renamed to
Load. Value set to 0.
Gauges Blockset
Open up a new model and name it
Motor_Control_PI_xPC2_Panel.mdl.
Place in two copies of the block called To
70
ace o copes o e boc ca ed o
xPC Target.
These are located in the xPC Target / Misc
toolbox.
These parts allow us to send data from the
front panel to the model running on our front panel to the model running on our
xPC target machine.
Add constants and sliders as shown.
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Gauges Blockset
71
Slider range 0 to 1.
Slider range 0 to 100.
Gauges Blockset
The To xPC Target blocks allow us to
change the value of blocks of a model that
is running on an xPC target
72
is running on an xPC target.
We will use the To xPC Target blocks to
change the value of constants Load and
Speed in model
Motor_Control_PI_xPC2.
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Gauges Blockset
73
The To xPC Target1 block
will change the value of this
constant.
The To xPC Target block will
change the value of this
constant.
Gauges Blockset
To change a value, you must know the
name of the model
(Motor Control PI xPC2) and the name
74
(Motor_Control_PI_xPC2) and the name
of the blocks (Speed and Load).
Right-click on block To xPC Target and
select Mask Parameters from the menu.
Change the parameters as shown:
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Gauges Blockset
75
Gauges Blockset
76
Name of model running on
the xPC Target.
Name of the block of which
we are going to change the
value.
Specifies that we will
change the Value of the change the Value of the
constant block.
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Gauges Blockset
77
After you click the OK button, your block
should appear as shown.
To test the linkage, we can double-click on this block.
After double-clicking on this block, the corresponding
block in the xPC model should be highlighted in cyan.
Gauges Blockset
78
This block highlighted in cyan after we double-clicked on the To
xPC Target block in the front panel model. This shows that we
have successfully linked the panel to the xPC model.
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Gauges Blockset
Repeat the process for block To xPC
Target1 and link it to the constant block
names Loadin the xPC Target model
79
names Load in the xPC Target model.
Gauges Blockset
The next thing we want to do is display the
performance of the real-time model on our
panel
80
panel.
We will use a gauge for this and an LED
display.
To transfer information from your xPC
model to the front panel, use the part
called From xPC Target, also located in
the xPC Target / Misc library.
Place one copy in your panel model.
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Blocks and Gauges
81
Gauges Blockset
We wish to display the rpm of the motor in
the plant.
This signal is located in the Plant
82
This signal is located in the Plant
subsystem of the xPC model.
We want to display this signal.
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Gauges Blockset
Open the Shaft Encoder subsystem.
83
We want to display this signal.
We need to rename this block We need to rename this block.
Gauges Blockset
Rename the gain block from rad/sec to
rpm to rad_to_rpm
84
Gain block renamed.
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Gauges Blockset
Right-click on the From xPC Target block
in the Panel model and the select Mask
Parameters fromthe menu:
85
Parameters from the menu:
Fill in the
dialog box as
shown next.
Gauges Blockset
86
Model name
Motor_Control_PI_xPC2.
Block name
Plant/Shaft_Encoder/rad_to_rpm.
Note that the block rad_to_rpmis
located inside the Shaft Encoder
subsystem.
Get a data point every 0.1
seconds.
Click the OK button to accept
the settings and then display
the panel model.
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Gauges Blockset
87
To test the linkage, double-click
on this block. The
corresponding signal should be
highlighted in the xPC model.
Gauges Blockset
88
This signal highlighted in red after we double-clicked on the From
xPC Target block in the front panel model. This shows that we
have successfully linked the panel to the xPC model.
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Gauges Blockset
The last thing we want to do is display the
rpm using some of the blocks from the
Gauges Blockset toolbox
89
Gauges Blockset toolbox.
Place the following blocks in your model
Generic Angular Gauge (Angular Gauges)
Upper Left (Angular Gauges)
Generic Numeric LED (Numeric Displays)
Gauges Blockset
90
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Gauges Blockset
Double-click on the Generic Angular
Gauge block and change the values as
shown:
91
shown:
Max value se to 3000. (Note
Scales tab selected.)
Delta value set to 500. (Note
Ticks tab selected.)
Gauges Blockset
92
Note display
changes here.
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Gauges Blockset
Make the same changes to the Upper Left
gauge.
93
Gauges Blockset
Double-click on the Generic Numeric LED
block and make the following changes:
94
Digits set to 4.
General tab selected.
Decimals set to 0.
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Gauges Blockset
Make the same changes to the Odometer
block.
95
Gauges Blockset
We are now ready to run the models.
Compile and load model
Motor Control PI xPC2on to the remote
96
Motor_Control_PI_xPC2 on to the remote
target by typing ctrl-b in the model window.
Use the xPC Explorer to run the model on
the remote target.
You should see the three simulation You should see the three simulation
graphs on your remote target as before:
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97
Gauges Blockset
Next, switch back to your panel model
(Motor_Control_PI_xPC2_Panel.mdl) and
run it
98
run it.
Set the simulation type to Normal.
As you change the sliders, you should see
the plots on the remote target respond
accordingly.
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99
Gauges Blockset
The Gauges and LEDs should also
change in real-time as the xPC model
runs
100
runs.
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Lecture 10 Gauges - Demo
Demonstrate your working model to me.
Front Panel Display
xPC Real-Time Display
101
xPC Real-Time Display
Demo___________
Any Questions?
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1
Systems Design
Lecture 10a: Lecture 10a:
Atomic Subsystems and
Software-in-the-Loop (SIL)
Outline
In this lecture we will take a look at two techniques that
will help verify the operation of the controller subsystem
and bring it closer to the implementation that will be
deployed on the target microcontroller
2
deployed on the target microcontroller.
With an atomic subsystem, we can specify the order of
execution of the blocks in the controller subsystem and
give it a different simulation step size than the plant
model.
With SIL, we will compile the controller into the same c-
code that will be deployed on the target and execute the code that will be deployed on the target, and execute the
controller subsystem as C-code rather than Simulink
blocks.
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2
Models
We will start with Model 2 from lecture 10.
We will remove all of the xPC target scope blocks and
change the solver back to a variable step solver with a
maximumstep size of 0 001 seconds
3
maximum step size of 0.001 seconds.
The Real-Time Workshop System target file has been
change from xpctarget.tlc to grt.tlc, the default target file
for new models. (Pretending that we just created this
model from scratch..)
The simulation mode has been set to normal.
This model has been saved as Lecture10a_Model0 and
has been passed out as a starting point.
Virtual Subsystems
In a standard model, with non-atomic subsystems (referred to
as virtual subsystems), the blocks are executed when the input
data for the blocks is available.
That is for a given time step a fewbut not all blocks in
4
That is, for a given time step, a few but not all blocks in
subsystem a could execute, then a few but not all blocks in
subsystem b could execute, then a few but not all blocks in
subsystem c could execute.
Then, execution could go back to subsystem a and execute
the remainder of the blocks in the subsystem.
Th Si li k i t bl k h th t d t d d b The Simulink engine sorts blocks such that data needed by a
particular block is always calculated prior to the execution of the
block.
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Virtual Subsystems
In general, some of the blocks in the controller
will execute, then some blocks in the plant, then
some blocks in the controller, then some in the
5
plant, and so on, until all the blocks have
executed for a given time step.
This is not how the controller would execute in
the physical system, where all of the controller
code will execute in a specific order, execute
l t l d th bl k i th completely, and there are no blocks in the
controller because it is the physical system.
Atomic Subsystems
In an atomic subsystem, when a
subsystem is executed, all blocks in the
subsystemrun before execution continues
6
subsystem run before execution continues
outside the subsystem. (This is closer to
how the controller will execute in the
physical system.)
Thus, specifying a subsystem as atomic
causes all blocks within a subsystem to
execute as a group.
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Block Execution Order
Before we change the controller to an atomic subsystem, we
will look at the execution order of our model.
To display the block execution order, select Format, Block
Displays, and then Sorted Order from the Simulink menus:
7
Block Execution Order
The block diagram now shows the execution order in the form
x:y where x is the system level and y is the sorted order within
the system level x.
8
The Desired Speed (RPM) constant block is at level 0 and the The Desired Speed (RPM) constant block is at level 0 and the
second block executed in the system.
Constant block One Bulb is at level 0 and is the 12
th
block
executed.
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Controller Subsystem
The Sorted Order of the controller subsystem is:
9
The blocks are mostly executed in order from 4
th
to 11
th
.
We see that the integrator sorted order is 0:0 meaning
that it is at level 0 and the first block executed in the
model.
10
This is because the discrete integrator block defaults
to a forward Euler method which doesnt require the to a forward Euler method which doesnt require the
current input, only the input from the previous time
step.
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We see that the integrator in the controller
is executed first.
Then the constant Desired Speed (RPM)
11
Then the constant Desired Speed (RPM)
at the top level,
Then another unlisted block (probably the
speed slider)
Thenthe remainder of the blocks in the Then the remainder of the blocks in the
Sorted Order
We see that a block in the controller is
executed, then blocks outside the
controller are executed then the
12
controller are executed, then the
remaining blocks inside the controller are
executed, then execution continues with
the remainder of blocks outside the
controller.
f This order of execution is not the same as
would occur in the physical
implementation of the controller.
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Sorted Order
We also see that all blocks in the model
are at level zero (0:x) independent of the
subsystemin which they reside
13
subsystem in which they reside.
This is because virtual subsystems (ones
that are not atomic or triggered the ones
we have been using so far) are graphical
conveniences for the user.
Simulink sees all of the virtual subsystems
at the same level. (Level zero in this case.)
Atomic Subsystems
Next, we will define the
controller as an atomic
subsystem.
14
Return to the top-level of the
model and right-click on the
controller subsystem, then
select Subsystem
Parameters
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8
Atomic Subsystems
15
Select this option to specify
the subsystem as atomic.
Note that we can specify the
time step for the subsystem.
For now leave it at -1.
Click the OK button when
done.
Atomic Subsystems
After you type ctrl-d to update the model,
you will see the display below:
16
W th t th O B lb t t i We see that the One Bulb constant is now
executed 4
th
where before it was executed 12
th
.
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9
Atomic Subsystems
17
We see that the notation for the Controller subsystem is now
0:2{1}.
This means that the subsystem block itself is at level 0 and is
the 3
rd
block executed in the model.
The contents of the Controller block are now designated as
l l 1 level 1.
When the controller block executes as the third block in the
model, all blocks within the controller will be executed before
any other blocks outside the controller run.
Controller Atomic Subsystem
18
All blocks have notation 1:x indicating that they are at All blocks have notation 1:x indicating that they are at
level 1.
Blocks will execute starting with the integrator 1:0 and
ending with the Saturation block (1:8)
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10
Controller Atomic Subsystem
The blocks within the Controller atomic subsystem
execute as a group.
Some blocks outside the controller will execute before,
19
,
and some will execute after.
Once the calculations for the Controller begin,
because we specified the Controller as Atomic, all
blocks will execute as a group before execution
continues outside the Controller.
This order of execution is closer to how we would
expect execution of code to occur when we deploy the
controller on a hardware target.
Atomic Subsystems
With an atomic subsystem, we can specify
that the subsystem execute with a different
time step than the plant
20
time step than the plant.
For the plant, we will use a small time step
so that we simulate the plant accurately.
For the controller, we will try to see how
large a time step we can use and still
obtain a stable system.
Right-click on the Controller subsystem
and select Subsystem Parameters:
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11
Atomic Subsystems
21
A Sample Time of 0.1
seconds is specified The seconds is specified. The
Controller will update once
every 0.1 seconds.
Click OK when
done.
Simulation Configuration Parameters
Select Simulation and the Configuration
Parameters to view the simulation
options
22
options.
We see that the a variable step solver is
specified with a max step size of 0.001
(1e-3).
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12
Simulation Configuration
23
Atomic Subsystems
The atomic subsystem will allow us to run the
plant with a small step size to simulate the
physics of the plant accurately.
24
physics of the plant accurately.
The atomic subsystem will allow us to use a
large fixed step size for the controller so that
we can determine the fixed step size needed
for the controller target hardware.
Before we continue, because the controller
now uses a fixed sample time, we need to
make some changes to the controller.
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Since the sample time of the controller is
now specified as 0.1, the discrete-time
integrator within the controller will use a
25
integrator within the controller will use a
sample time of 0.1 if we specify its Sample
Time as inherited:
26
Sample Time of the
Discrete- Time
integrator specified
as inherited.
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Low-Pass Filter
The low pass filter placed inside the controller is a
continuous time block and cannot run inside an atomic
subsystem with a fixed time step.
In the physical implementation the low-pass filter is an
27
In the physical implementation, the low-pass filter is an
analog circuit that filters the input signal to the
controller, and is not part of the control algorithm
implemented by the microcontroller.
The controller is not part of the plant or the controller,
but a signal conditioning circuit between the plant and but a signal conditioning circuit between the plant and
controller.
We will move the low-pass filter outside of the
controller and place it in the top level between the
plant and controller.
Signal Scaling
The gain block inside the controller that
scales the signal to 1 is also not part of the
controller algorithm
28
controller algorithm.
In the controller, this will be accomplished
with the analog to digital converter and a
gain block, but this will be outside of the
control algorithm.
We will remove the gain block as well.
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Updated Controller
29
Low-pass filter and gain
block removed.
Updated Top-Level Model
30
Low-pass filter and gain
block placed here.
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Signal Conditioning Block
The contents of the Signal Conditioning
subsystem are shown below:
31
Atomic Subsystems
When we run the simulation, we will see that
the system oscillates at the sample time
specifiedby the controller atomic subsystem
32
specified by the controller atomic subsystem
because the sample time of 0.1 seconds is too
large.
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33
Controller Subsystem Sample Time =0.1 s
Controller Sample Time
We can now see how small of a sample time we need for the
controller so that it can accurately control the system.
We did this previously, but there is a difference.
When we changed the time step before using the Simulation
34
g p g
Configuration dialog box, we changed the step size for both
the controller and the plant.
It was possible that the large step sized used in simulating the
plant was the cause or part of the cause of the oscillations.
Using this method, we know that the larger step size is used
only in the controller. The plant can use an arbitrarily small only in the controller. The plant can use an arbitrarily small
step size.
We will start reducing the Controller sample time and see how
large of a sample time we can use and achieve a stable
system.
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35
36
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19
37
C t ll S b t S l Ti 0 001 Controller Subsystem Sample Time =0.001 s
Lecture 10A Demo 1
Demonstrate the controller as an atomic
subsystem with sample times of 0.1, 0.01,
and 0 001 seconds
38
and 0.001 seconds.
Demo___________
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Controller Step Size
This simulation shows that a controller step size
of 0.001 to 0.003 seconds is small enough to
achieve a stable system.
39
This results is similar to what we found earlier,
except we eliminated the possibility that the
oscillation was due to the plant simulation step
size.
Nowwe knowthat the oscillations we found Now we know that the oscillations we found
when making the time step too large were
because of the large time step in the controller,
not the plant.
SIL Simulations
We have taken the first step into seeing
how the controller would behave when
deployedon a controller
40
deployed on a controller.
We have run the controller with a fixed
time step.
On the target, the controller will run with a
fixed time step.
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21
MIL Simulations
One problem, is that our controller is a
model made out of Simulink blocks
executingin the Matlab environment
41
executing in the Matlab environment.
These type of simulations are sometimes
called Model-in-the-Loop or MIL
simulations.
When we deploy the controller on the
target hardware, the model will be
converted to C, compiled, and then the
compiled code will run on the target.
SIL Simulations
So we see a slight difference.
In our MIL simulations, the controller is
implemented by executing Simulink model
42
implemented by executing Simulink model
blocks.
On the target hardware, the controller is
implemented by executing C-code.
Howcan we gain confidence that the two How can we gain confidence that the two
implementations are the same, or at least
very close?
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SIL Simulations
With SIL simulations, we will convert the controller to
a block of C-code and run the C-code in our
simulation.
The C code for the controller logic will be the same C
43
The C-code for the controller logic will be the same C-
code as deployed on the target.
The target will have additional code in the preamble
to initialize the hardware, and some additional code
for accessing the hardware resources (analog and
digital I/O for example) digital I/O for example).
The C-code representing the Simulink blocks in the
controller will be the same.
SIL Simulations
SIL simulations will give us confidence that
the C-code generated for the controller
produces the same results as the Simulink
44
produces the same results as the Simulink
block representation of the controller.
We will accomplish this by creating an S-
function block out of the controller.
An S-function is a block of C-code with
inputs and outputs to interface with the
remainder of the Simulink model.
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Next, from the Simulink menus, select
Simulation and then Configuration
Parameters
45
Real-Time Workshop Embedded Coder
Parameters.
Select the Real-Time Workshop tab.
46
Note that grt.tlc is specified. TLC stands
for Target Language Compiler This is
a text processing language that the
MathWorks code generator uses.
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The default System target file is grt.tlc.
GRT stands for generic real-time target.
GRT engages the Real-Time Workshop a subset of
47
GRT engages the Real Time Workshop a subset of
the features of the ert.tlc (mentioned on the next slide)
It is designed for Rapid Prototyping and hardware-in-
the-loop code generation.
It is not as efficient or configurable as ert.tlc.
ERT stands for Embedded Real-Time Target.
Ert.tlc engages Real-Time Workshop Embedded
Coder.
48
We need to specify the System target file as ert.tlc
which generated code for embedded real-time
hardware targets.
Click the Browse button:
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Embedded Real-Time Coder
49
Select the first ert.tlc file.
The second ert.tlc file only generates a makefile,
which you would have to run later to compile and
build the generated code.
Ert.tlc
50
Ert.tlc now
specified.
Embedded coder
selected.
Click the OK
button.
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Ert.tlc
It turns out that the embedded coder is used by
many of the hardware vendors to generate the
code for their targets
51
code for their targets.
In this course, we will be using the rappid.tlc
System target file to generate code for our
MPC5554 controllers.
If we edit the file rappid.tlc located in directory
C:\Program Files\RAppIDToolbox\rappid\rappid
we will see that it references ert.tlc for
generating code for the Simulink blocks:
Ert.tlc
52
We see that the rappid.tlc references the
ert.tlc file.
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SIL Simulations
Because our S-function will use the ert.tlc system
target file, and because the Rappid.tlc file references
the ert.tlc file, the code generated for the S-function
will be the same as the code generated for our targets
53
will be the same as the code generated for our targets
(5554).
Thus, we will be generating the same code for our S-
function as will be generated for the target Hardware.
This is a good way to test the code for our controller
b f t t it th h i l l t before we test it on the physical plant.
Make sure that ert.tlc is specified as the System
target file, save the changes, and return to the top-
level of the model.
S-Functions
To create an S-
function block,
right-click on the
Controller
54
Controller
subsystem and
select Real-Time
Workshop , and
then Generate S-
Function
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S-Functions
55
Click the Build button to
generate the S-function
Simulink block
Check this box to use the
Embedded Coder (ert.tlc).
S-Functions
A new model will be created containing the
S-function block.
56
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SIL Simulations
For SIL simulations, we would like to
compare the performance of the system
controlled with the Simulink model controller
57
co o ed e S u ode co o e
to the same system controlled with the S-
function controller.
We can do this with the system shown next.
Copy the S-function block back into your
original model, duplicate the plant and signal
conditioning subsystems, and wire as shown:
58
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30
SIL Simulations
We would like
to see the
difference
59
between the
two plant
outputs.
We will take
the difference
b t th between the
two and plot it:
Complete Top-Level Model
60
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System Performance
The plot on the next page shows a load of zero bulbs.
The error between the two systems is zero.
This shows that the response of the plant to the
61
Simulink model controller and the S-function controller
are nearly identical.
This gives us confidence that the code we generate
from the Simulink model that will run on our target
matches closely to the Simulink block version of the
model.
You should run several tests at different speeds and
different loads to verify the S-functions operation.
SIL Performance
62
There are two
traces here, but
they appear to be
There are two
traces here, but
they appear to be
identical.
they appear to be
identical.
Error scale 10
-3
.
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Lecture 10A Demo 2
63
Demo___________
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1
Systems Design
Introduction to the MPC555x
Target
Installing the Software
The software is already installed on the
computers in the Rose-Hulman Model-
Based Systems Design Lab
2
Based Systems Design Lab.
Rose-Hulman students can skip to slide 15
and skip the software installation slides.
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2
Installing the Software
You will need the following software
components
CodeWarrior Development Studio for
3
CodeWarrior Development Studio for
MPC55xx, Build Tools Edition (To compile our
Simulink Models)
RAppID Toolbox (Simulink blocks to access
the MPC555x facilities)
Esys Flasher (Download models to the Esys Flasher (Download models to the
MPC555x development board)
CodeWarrior Installation
Choose the following options when installing
CodeWarrior
Choose all of the default or typical settings.
4
Running the updater is not necessary.
We will need to make the following changes:
Copy file C:\Program Files\Freescale\MPC55xx
V2.0\bin\lmgr8c.dll
To directory C:\Program Files\Freescale\MPC55xx
V2 0\P PC EABI T l \C d Li T l V2.0\PowerPC_EABI_Tools\Command_Line_Tools
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CodeWarrior License
Request a license from Freescale
Copy the license.dat file to the following
Directories:
5
Directories:
C:\flexlm
C:\Program Files\Freescale\MPC55xx V2.0\License
C:\Program Files\Freescale\MPC55xx V2.0
Installing RAppID Toolbox
Unzip file RAppIDToolboxECV101Release.zip
Run file setup.exe
Select the default choices
6
Select the default choices.
Restart your system.
Request a License File
In the RAppID Toolbox program group, run
the License Requestor program: g
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Installing RAppID
Copy the license file to direcory
C:\RAppID_Lic
Run Matlab
7
Run Matlab.
Change the working directory to C:\Program
Files\RAppIDToolbox\rappid
From the Matlab Command Line prompt, run
the command rappid_path
Installing RAppID
Next We have to set up an environment
variable in Windows.
Right click on My Computer and select
8
Right click on My Computer and select
Properties:
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Installing RAppID
Select the Advanced tab
Select the Environment Variables button.
9
Advanced tab
selected.
Select this button.
Installing RAppID
Select the New button as shown:
10
Select this button.
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Installing RAppID
Add a new environment variable
MW_TOOL (Note all caps!)
Give it a value C:/" Program
11
Give it a value C:/ Program
Files" /Freescale/" MPC55xx V2.0"
(Note that you might have a different
version of the compiler.)
Installing RAppID
Click the OK button to define the new
environment variable.
Click the OK button two more times to exit
12
Click the OK button two more times to exit
the My Computer dialog boxes.
You will need to restart MATLAB so that it
will recognize the new variable.
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Installing eSys Flasher
Run eSysFlasher_v1.3_setup.exe
Select the defaults.
Restart your system
13
Restart your system.
Installing eSys Flasher
Plug in the P&E Microcomputer USB
Multilink device into your USB port.
Select to not use the internet to find a driver
14
Select to not use the internet to find a driver.
It should find the driver locally.
If the driver installs properly, the blue light
should illuminate on the USB Multilink Box.
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Connecting the Hardware
Plug in the ribbon cable of the USB
Multilink into the port labeled JTAG on the
MPC555x board.
15
Note that the red stripe should line up with pin
1 on the JTAG connector.
Turn on the power
to the MPC555x
board
We are now ready
to go!
Red Stripe
MPC555x
We will now create a simple project where
we flip-flop two LEDs on the MPC555x
board
16
board.
If we can do this, we can do anything!
Note that pin connections for the
MPC555x board are documented in file
MPC5554DEMO_man_G.pdf.
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MPC555x LED Flasher
Run MATLAB, run
Simulink, and then
open a new Simulink
17
open a new Simulink
Project.
In the RAppID
library, locate a block
called RAppID-EC
and place it in your
model:
MPC555x Setup
18
Double-click on this Double click on this
block to open it.
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MPC555x Setup
19
This window allows us
to set up the hardware
configuration for our
target.
For now, we will just
specify the compiler and
the non-volatile memory.
MPC555x Setup
Select Configuration, Compiler Config,
and then MetroWerks from the menus:
20
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MPC555x Setup
Select Configuration, Target Type, and
then Internal Flash from the menus:
21
This command
tells the system to
use non-volatile
flash memory
rather than RAM.
S l t Fil d Select File and
then Save.
Select File and
then Exit.
MPC555x Setup
The Target Setup block should show the
changes to the configuration:
22
MetroWerks compiler
and Internal Flash
memory selected.
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MPC555x Digital Output
We would like to turn
on two LEDs.
Place two General
23
Place two General
Purpose Output
blocks in your model.
Double click on the blocks and select an
output.
We will use:
24
We will use:
Pin 203: Primary Function GPIO
Pin 204: Primary Function GPIO
After making the changes, your model
should look a shown:
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25
LED Flasher
We would like the LEDS to flash on and off
at a 1 Hz rate.
We need to select a discrete solver and
26
We need to select a discrete solver and
specify a fixed time step of 1 ms. (We can
actually, use a larger time step, but well
use 1 ms.)
Select Simulation and then
Configuration Parameters from the
Simulink menus.
Select the solver tab and fill in a shown:
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LED Flasher
27
Enter infinity (inf).
Specify a time step
of 1 ms.
LED Flasher
If you look at the Real-Time Workshop tab,
you will notice that our model has been
setup for RAppID:
28
setup for RAppID:
Click OK to
accept the
changes
we made in
the Solver
tab and
close the
dialog box.
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Clock
The next thing we need to do is to add a 1
HZ clock.
We will do this with a Pulse Generator
29
We will do this with a Pulse Generator
block located in the Simulink / Sources
library:
Place the block in your model and change
the settings as shown next:
Pulse Generator
30
Pulse width and period are
calculated based on the
number of samples.
The output flip-flops
between 0 and 1.
The period is 1000 samples. Since the
sample time is 1 ms, the period is 1 s.
The pulse width is 500 samples. Since the
sample time is 1 ms, the period is 0.5 s.
Sample time is 1 ms. It does not have to be
the same as out simulation step size. It
should be an integer multiple of the
simulation step size.
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Compare to Constant
We would like the LEDs to flip-flop on and
off.
When one LED is on the other should be
31
When one LED is on, the other should be
off.
We could do this with a logic function.
Instead, we will use a compare to constant
block. block.
The Compare to Constant block is
located in the Simulink / Logic and Bit
Operations library.
Compare to Constant
Specify the settings a shown:
32
Compare operator set to
less than or equal to less than or equal to.
Compare the input to a
numerical value of 0.5.
The output data type is
B l (t f l ) Boolean (true or false).
Note that True 1 and
False 0.
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Data Types
The GPO (general purpose output) blocks
require a Boolean data type for an input.
The Compare to Constant block has the
33
p
right output data type.
The Pulse Generator block as a double-
precision output data type.
We need to convert from a double-precision
data type to a Boolean.
Use the Convert block located in the
Simulink / Commonly Used Blocks library.
Convert Block
Specify the Output data type mode to be
Boolean:
34
The output data type is
Boolean (true or false).
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Complete Model
35
Data Types
It is important that we use the correct data types
for all of the blocks.
We can show the data types on the model.
S l t F t P t/Si l Di l d th
36
Select Format, Port/Signal Displays, and the
Port Data Types from the Simulink menus to
display data types on the model.
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Displaying Data Types
To check the model for errors and display
data types, type ctrl-d in your model
window:
37
window:
Data Types
For this simple model, the data types look
correct.
The GPO blocks require a Boolean input
38
The GPO blocks require a Boolean input,
and our input data types are Boolean.
We can now build the model.
Type ctrl-b to build the model.
You should see the progress of the build You should see the progress of the build
process in the Matlab command window.
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39
Build
If the build completes successfully, you
should see the ending text blow in the
command window:
40
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Downloading the Model
The next thing we need to do is download
the model to our board.
Make sure that your MPC555x board has
41
Make sure that your MPC555x board has
the power turned on.
Make sure that the USB link is plugged
into a USB port and that it is plugged into
the JTAG port on your MPC555x board.
Run the eSys Flasher program.
eSys Flasher
Select the P&E Wiggler (USB) option.
42
After clicking the OK button, if you get a
message below
Then you forgot to turn on your MPC555x
power, or the USB link is not plugged in.
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eSys Flasher
If you have communication between your
computer and MPC555x, you should see
the screen below:
43
the screen below:
Click here to
b d program your board.
eSys Flasher
Select the S-Record File type and click
the Program button:
44
You need to locate a file named
LED_Flasher.mot.
This should be located in the directory This should be located in the directory
named LED_Flasher_rappid_rtw which
should be in your working directory:
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eSys Flasher
45
Select file LED_Flasher.mot and click the
Open button to program your board.
If successful, you should see the window
shown next:
eSys Flasher
46
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MPC555x Wiring
Next, we need to connect the GPO
outputs on the MPC555x board to the LED
display on the MPC555x board
47
display on the MPC555x board.
Information documenting the MPC555x
demo board is located in file
MPC5554DEMO_man_G.pdf.
In our model we are using GPO 203 and
GPO 204.
Open this file and search for the text 203.
MPC555x Output Pins
48
We see that I/O
port GPO203 is pin
H24 H24.
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MPC5555 Output Pins
49
We see that I/O
port GPO204 is pin
G25.
MPC555x
We need to locate pins G25 and H24 on
the MPC555x board.
We can do this by looking at file
50
We can do this by looking at file
MPC5554DEMO_TOP_F-G.pdf in the
MPC555x documentation, or by looking at
the board:
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MPC555x Board
51
MPC555x Board
52
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MPC555x
We would like to hook up these digital
outputs to the LED display on the
MPC555xDemo board
53
MPC555xDemo board.
We will use LED1 and LED2.
The LED connector is shown on the next
slide:
MPC555x Board
54
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MPC555x Board
55
MPC555x Wiring
Use the patch-cord wires to connect the
digital outputs to the LEDs.
When you cycle the power to the board or
56
When you cycle the power to the board, or
press the Reset button, the LEDs should
flash on and off at a 1 Hz rate.
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Change the LED flasher frequency to 2 Hz
and demonstrate your working system.
57
Demo___________
Create an 8-Bit ring counter that changes
state every second.
Do not use Stateflow to do this
58
Do not use Stateflow to do this.
The LED output sequence is shown below:
1 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0
0 0 1 0 0 0 0 0
0 0 0 1 0 0 0 0
0 0 0 0 1 0 0 0
0 0 0 0 0 1 0 0
0 0 0 0 0 0 1 0
0 0 0 0 0 0 0 1
Demo___________
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Create an 8-Bit up-down ring counter that
changes state every second.
Do not use Stateflow to do this
59
The LED output sequence is shown below:
1 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0
0 0 1 0 0 0 0 0
0 0 0 1 0 0 0 0
0 0 0 0 0 0 1 0
0 0 0 0 0 1 0 0
0 0 0 0 1 0 0 0
0 0 0 1 0 0 0 0
0 0 0 0 1 0 0 0
0 0 0 0 0 1 0 0
0 0 0 0 0 0 1 0
0 0 0 0 0 0 0 1
0 0 1 0 0 0 0 0
0 1 0 0 0 0 0 0
1 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0
Demo___________
Create an 8-Bit ring counter that:
Changes the rate at which the counter changes state.
For five seconds, the state should change every 0.1
60
seconds.
For 5 seconds, the state should change every 0.2
seconds.
The rate change continually flips between 0.1 and 0.2
seconds every 5 seconds.
Do not use Stateflow to do this Do not use Stateflow to do this.
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Lecture 11 Exercise 4 (Cont)
You may want to display sample times on the
model. Select Format, Port/Signal Displays,
and the Sample Time Colors from the Simulink
61
menus.
You may need to use a Rate Transition block
located in the Simulink / Signal Attributes
library.
Demo___________
Any Questions?
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Systems Design
Lecture 11A: Lecture 11A:
The FreeMASTER Debugging
Tool
FreeMASTER
We will next look at a tool called FreeMASTER
from Freescale Semiconductor that allows us to
observe the value of Simulink signals inside the
2
observe the value of Simulink signals inside the
MPC555x microcontroller in real-time.
We will assign names to signals of interest in
the Simulink model.
FreeMASTER can then display the value of the
signal:
As a text display that is updated at a specified rate.
Graphically in a plot.
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Setup
The only additional setup required is to
connect your PC to the MPC555x board
usinga 9-pin serial cable
3
using a 9 pin serial cable.
The cable plugs into the port labeled
COM-1 on the MPC555x board.
The communication settings will be
specified in your Simulink model with a
configuration block and a setup dialog box
in FreeMASTER.
Two-Speed Ring Counter
We will start with the model created in Lecture
11, Exercise 4.
As a reminder, this model did the following:
4
, g
Create an 8-Bit ring counter that:
Changes the rate at which the counter changes state.
For five seconds, the state should change every 0.1 seconds.
For 5 seconds, the state should change every 0.2 seconds.
The rate change continually flips between 0.1 and 0.2
seconds every 5 seconds.
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Two-Speed Ring Counter
5
Two-Speed
Ring Counter
FreeMASTER
To use the FreeMASTER tool, we need to place
a block called eSCI_FMSTR_Interface in our
model
6
model.
This block is located in library RAppID-Toolbox
/ Utility Blocks / FreeMaster_Interface
This block sets up the serial communication on
the MPC555x board.
The only option is the baud rate, which we will
leave at 57600:
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FreeMASTER
We can view any signal in the model.
To view a signal, we need to name the
signal line and then declare the storage
7
signal line and then declare the storage
class as ExportedGlobal.
To name a signal line, right-click on the
signal line and select Signal Properties.
We will name the signal lines of the We will name the signal lines of the
Repeating Sequence signal sources.
Right-click as shown next:
Naming Signals
8
Next select Signal
Right-click here.
Next, select Signal
Properties.
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Naming Signals
Specify the name of the signal as
Repeating_Signal_Fast
9
Specify signal
name here.
Naming Signals
Next, select the Real-Time Workshop tab and
specify the Storage class as ExportedGlobal:
10
Select
ExportedGlobal.
Real-Time Workshop tab
selected.
Click the OK button when done. The signal
name will be displayed on the block diagram.
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6
Naming Signals
11
The signal has
been named.
Naming Signals
Name the following signals shown on the next few
slides.
Be sure to declare them as ExternalGlobal.
12
Signal named.
Signal named.
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Naming Signals
13
Signals named Bit0
through Bit3.
Signal named Bit3.
Naming Signals
14
Signals named Bit4
through Bit7.
Signal named Bit7.
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Model Complete
We have now named all of the signals of
interest.
Build your model and download it to the
15
y
MPC555x target.
Verify that the model runs correctly by displaying
the correct pattern on the LEDs.
The purpose of learning the FreeMASTER tool is to
help us debug models that are not working correctly.
We already know that this model works.
The purpose of this model is to learn how to use the
FreeMASTER tool.
Data Types
Before we continue, it is good to note the data
types of the signals we will be viewing:
Double
16
Double
Repeating_Sequence_Slow,
Repeating_Sequency_Fast, Sequence
Boolean
Bit0 through Bit7
We will need this information later when we
select signals.
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9
Run FreeMASTER
17
FreeMASTER Options
We now need to set up the communication
port and specify the mapping file for the
model
18
model.
Select Project and then Options from the
FreeMASTER menus:
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FreeMASTER Setup
The default com port is COM1 (which should
work for us) and the speed is 115200.
In the FreeMASTER setup block we placed in
19
p p
the model, the BAUD rate was set to 57600.
Change the speed to 57600:
Change to 57600.
Comm tab
selected selected.
FreeMASTER Setup
Next select the MAP Files tab:
20
MAP Files tab
selected.
Click here to browse
for a MAP file.
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MAP Files
The MAP files are symbol mapping files for our model.
We are looking for a file with the extension .elf.
The file is contained in a directory created by Simulink
21
The file is contained in a directory created by Simulink.
If your model name was x then the file would be
named x.elf and located in directory x_rappid_rtw.
This directory is created by Simulink and placed in the
working directory.
Select the elf file for your model: Select the .elf file for your model:
MAP Files
22
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MAP FIles
Next, select the File format as Binary ELF
with DWARF1 or DWARF2 dbg format.
23
File format selected.
FreeMASTER
After clicking the OK button, we should be
able to establish communication with the
MPC555x board
24
MPC555x board.
In the lower right corner of the
FreeMASTER window, the text
RS232;COM1,speed=57600 should be
displayed:
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25
Indicateds that FreeMASTER is
communicating with the target.
Communications
If you did not establish communication
between FreeMASTER and your
MPC555x board:
26
MPC555x board:
Check the BAUD rate setting of the
eSCI_FMSTR_Interface block in your
Simulink model.
Check the Speed settings in FreeMASTER by
selecting Project and then Options fromthe selecting Project and then Options from the
menus.
Make sure that you know which port on your
computer is COM1.
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Watched Variables
Next, we will display the values of signal
Repeating_Signal_Slow.
Right click as shown next and select
27
Right click as shown next and select
Create New Watched Variable:
28
Right-click here.
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29
Click here. You should see
a list of available signals. a list of available signals.
Included in the list should
be the signals that we
named.
30
These are signals that we
named in the model.
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Watched Variables
Make the following selections
31
Speed set to fastest.
Repeating_Sequence_Slow
THE data type is floating point
IEEE. Recall in the Simulink
block diagram, the signals data
type was double.
Speed Note
We have selected the Sampling period to fastest.
If you recall, the fast repeating sequence had a
sampling time of 100 ms.
32
To see the waveforms, we need a sampling rate that
is about 10 times faster than 100 ms or about 10 ms
for each signal we are displaying.
There are two problems with requiring this fast of a
sample rate:
The tool might not be able to sample this fast.
If we wish to display a lot of the signals, the faster we
sample, the more data we need to communicate over the
RS232 link.
At some point the link will become saturated and we will not
be able to view some of the data.
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Watched Variables
After Clicking the OK button, you will see
the variable and its value displayed.
The value is updated at the specified rate:
33
The value is updated at the specified rate:
Lecture 11A Demo 1
Repeat the Procedure to display the values of
signals Repeating_Sequence_Fast and Sequence:
34
Demo___________
You should see the fast and slowsignals change You should see the fast and slow signals change
at different rates, and the Sequence signal should
flip-flop between the fast and slow rates.
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Scopes
Next, we would like to generate plots of
the three signals.
Right click on the text New Project and
35
Right-click on the text New Project and
select Create Scope
Right click here Right-click here.
Scopes
Fill in the Main tab of the dialog box as shown:
36
A catchy name.
Sampling period set to 10 ms.
Display 5 seconds of data.
Keep the length of the time axis
constant at 5 seconds.
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Scope Properties Setup Tab
The setup tab is used to assign watched
variables to the plot.
Click on the down arrow as shown:
37
Select Repeating_Sequence_Fast:
38
Repeating_Sequence_Fast is displayed in Block 0.
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Next, click as shown to select the second
trace and Block 1:
39
Click here!
Click here!
Click on the down arrow as shown and
then select Repeating_Sequence_Slow
40
Click here!
Click here!
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You should see the screen below:
41
Lastly, click here to
display signal
Repeating_Sequence_
Slowin Block 1 Slowin Block 1.
This screen shows that signal
Repeating_Sequence_Slowis displayed in Block 0
and signal Repeating_Sequence_Fast is displayed in
Block 1
42
Block 1.
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We will now repeat the procedure to
display signal Sequence in Block 3.
43
Click as shown to select the third trace
and Block 2:
44
Click here!
Click here!
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Click on the down arrow as shown and
then select Sequence
45
Click here!
Click here!
You should see the screen below:
46
Lastly, click here to
display signal Sequence
in Block 2.
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This screen shows that signal
Repeating_Sequence_Slowis displayed in Block 0,
signal Repeating_Sequence_Fast is displayed in
Block 1 and signal Sequence in Block 2
47
Block 1, and signal Sequence in Block 2.
When you click the
OK button, you will
return to the
screen shown next:
48
Click on Stair Step
Scope to display
the waveforms
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Lecture 11A Demo 2
49 Demo___________
Lecture 11A Problem 1
Create the following display of information:
50 Demo___________
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Create the plot shown on the next page.
Note that only bits 0 through 6 are shown.
51 Demo___________
52
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Any Questions?
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1
Systems Design
Number Systems
Outline
Binary
Hexadecimal
M tl b F ti
2
Matlab Functions
Unsigned Integers
Signed Integers
Floating Point Numbers
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Number Systems
There are two kinds of engineers in this
world
3
Those who know binary and those who dont.
That was a joke.
If you dont know binary, you probably didnt
get it.
This section is for the engineers that didnt This section is for the engineers that didn t
get it.
Base 10
Most of us are familiar with base 10
number systems.
Valid digits are 0 through 9 (Hey! There
4
Valid digits are 0 through 9 (Hey! There
are 10 values!)
The base is also referred to as the radix.
An example is:
0 1 2 3
10 4 10 8 10 3 10 7 7384 + + + =
Radix = 10 Radix = 10
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Binary
Binary uses a radix of 2.
Valid values of a digit are 0 and 1.
5
( ) ( ) ( ) ( ) ( )
0 1 2 3 4
2 0 2 1 2 1 2 0 2 1 10110 + + + + =
Radix = 2
( ) ( ) ( ) ( ) 22 0 2 1 4 1 8 0 16 1 10110 = + + + + =
Binary
6
10110
0s place
2s place
4s place
8s place
16s place
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Binary
Historically and physically our choice of 0
and 1 for a binary digit comes from:
Switches which can be on or off
7
Switches which can be on or off.
Digital logic circuits that produce either a low
voltage or a high voltage.
Typical 5 V logic circuits
Low = logic 0 Voltage from 0 to 0.8 Volts.
High = Logic 1 Voltage from 3.4 to 5 Volts.
Synonyms
1 = logic 1 = high = True
0 = logic 0 = low = False
Terminology
A single binary digit is referred to as a bit.
A group of 4 binary digits is referred to as
a nibble (1011 1110) is two nibbles
8
a nibble. (1011 1110) is two nibbles.
A group of 8 binary digits is referred to as
a byte (10111110) is one byte.
1k (for digital guys) is 2
10
= 1024
1M (for digital guys) is 1k * 1k = 2
10
*2
10
= 1M (for digital guys) is 1k 1k = 2 2 =
1048576.
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Hexadecimal Radix = 16
We will be dealing with long strings of bits.
It is convenient to group those bits in
groups of 4
9
groups of 4.
Binary Hex Decimal Binary Hex Decimal
0000 0 0 1000 8 8
0001 1 1 1001 9 9
0010 2 2 1010 A 10
0011 3 3 1011 B 11
0100 4 4 1100 C 12
0101 5 5 1101 D 13
0110 6 6 1110 E 14
0111 7 7 1111 F 15
Hexadecimal
In decimal every digit can have ten values,
0 through 9.
In hexadecimal each digit can have16
10
g
values ranging from 0 to 15.
Hey, we need a single symbol for each
digit!
How do we do this with only 10 numeric
symbols in our mathematical vernacular.
For numbers 0 through 9, use 0 through 9.
For numbers 10 through 15, use letters A
through F.
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Hexadecimal
11
{{ { { {
3
0011
7
0111 1101
6
0110 1011
D B
( ) ( ) ( ) ( ) ( )
0 1 2 3 4
16 3 16 7 16 13 16 6 16 11 73 6 + + + + = D B
10 16 2
748915 73 6 0101110011 1011011011 = = D B
Useful Matlab Functions
Bin2dec Converts a binary text string to
a decimal number:
12
>> bin2dec('10110110110101110011')
ans =
Dec2bin Converts a decimal number to a
binary text string.
ans =
748915
>> dec2bin(748915)
ans =
10110110110101110011
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Useful Matlab Functions
Hex2dec Converts a hexadecimal string
to a decimal number:
13
>> hex2dec('B6D73')
Dec2hex Converts a decimal number to
a hexadecimal text string.
ans =
748915
>> dec2hex(748915)
ans =
B6D73
Matlab
How do we convert from binary to hex?
14
>> dec2hex(bin2dec('10110110110101110011'))
How do we convert from hex to binary?
( ( ))
ans =
B6D73
>> dec2bin(hex2dec('B6D73'))
ans =
10110110110101110011
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Hexadecimal Numbers
If we see a number like 123, how do we
know if it is a hexadecimal or decimal
number? (It could actually be any base
15
( y y
greater than 3, but we wont go there.)
Ways of indicating a number is a
hexadecimal number
hex 123 - saying it.
$123 di th b ith $ i $123 - preceding the number with a $ sign.
x123 - preceding the number with an x which
is short for hex.
123
16
Indicating the base explicitly.
Basic Data Types in Simulink
Boolean True or False (not 0 or 1 numerically)
Uint8 Unsigned 8-bit integer. Can represent
values from 0 to 255.
16
11111111
2
= 2
7
+2
6
+2
5
+2
4
+2
3
+2
2
+2
1
+2
0
= 2
8
-1 = 255
10
1111111111111111
2
= 2
15
+2
14
+2
13
+ + 2
2
+2
1
+2
0
= 2
16
-1 = 65535
10
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Basic Data Types in Simulink
11111111111111111111111111111111
2
31 30 29 2 1 0
17
= 2
31
+2
30
+2
29
+ + 2
2
+2
1
+2
0
= 2
32
-1 = 4294967295
10
Signed Integers
There are three common ways of
representing signed numbers
Sign and magnitude: The most significant bit
18
Sign and magnitude: The most significant bit
represents the sign. (1 is negative, 0 is
positive)
10001 would represent the number -1.
11111 would represent the number -15.
00001 would represent the number 1. p
01111 would represent the number +15.
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Signed Integers Sign and Magnitude
With sign and magnitude representation:
There are an equal number of positive and
negative values that can be represented.
19
negative values that can be represented.
There are two ways to represent 0:
1000000
0000000
We will not be using this method to
represent signed integers represent signed integers.
Signed Integers Biased Values
With biased values, to calculate the
numerical value of the code, calculate the
magnitude of the code and then subtract
20
magnitude of the code and then subtract
off a fixed bias.
Example: 5-bit codes, bias = 15.
00000 value = 0 15 = -15
00001 value = 1 15 = -14
01111 value = 15 15 = 0
10000 value = 16 15 = 1
11111 value = 31 15 = 16
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Signed Integers 2s Complement
We will be using a method called twos
complement to represent positive and
negative integers
21
negative integers.
With 2s complement, the most significant
bit has a negative weight.
( ) ( ) ( ) ( ) ( )
Note this (-) sign.
( ) ( ) ( ) ( ) ( )
10
6 16
2 0 2 1 2 1 2 0 2 1 10110
0 1 2 3 4
=
+ =
+ + + + =
2s complement Numbers
22
( ) ( ) ( ) ( ) ( )
6 0
2 0 2 1 2 1 2 0 2 0 00110
0 1 2 3 4
+ =
+ + + + =
With 2s complement
If the most significant bit is a 1, the number is
negative
6
6 0
=
+ =
negative.
If the most significant bit is a 0, the number
will be positive.
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2s complement Numbers
We will do some 8-bit examples.
The most negative number is
10000000 = 2
7
= 128
23
10000000 = -2
7
= -128
The most positive number is
011111111 = 127
The code for -1 is
111111111 = -2
7
+127 111111111 = -2 +127
-2
7
127
2s complement
There is only one representation for 0
00000000
24
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Signed Integer Types in Simulink
Int8 2s complement signed 8-bit integer. Can
represent values from -128 to 127.
10000000 = -2
7
= -128
25
011111111 = 127
Int16 2s complement signed 16-bit integer. Can
represent values from -32768 to 32767.
1000000000000000 = -2
15
= - 32768
0111111111111111 = 32767
Int32 2s complement signed 32-bit integer.
Represents values from - 2147483648 to 2147483647.
10000000000000000000000000000000 = -2
31
= - 2147483648
01111111111111111111111111111111 = 2147483647
The MathWorks help facility has a good
section on floating point numbers.
The following few slides were generated
26
The following few slides were generated
from the information contained in the
MathWorks help facility.
Search for the topic, floating-point
numbers in the MathWorks help facility to
find more in-depth information.
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27
Fixed-point numbers are limited in that they
cannot simultaneously represent very large or
very small numbers using a reasonable word
28
size.
This limitation can be overcome by using
scientific notation.
With scientific notation, you can dynamically
place the binary point at a convenient location
and use powers of the binary to keep track of
that location.
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Scientific Notation (Decimal)
Most of us are familiar with scientific
notation.
d is a decimal digit with values from 0 to 9
29
d is a decimal digit with values from 0 to 9.
We can move the decimal point right or left by
decreasing or increasing the power of 10 by
which we multiply.
4
10 0 10

p p
ddddd dddd d
1
4
10 . 0
10 0 . 10 .
+
=
=
p
p p
ddddd
ddddd dddd d
Decimal point.
Binary Point
Binary numbers can have a fractional part
just like decimal numbers:
30
2 1 0 1
10 4 10 8 10 3 10 7 84 . 73

+ + + =
Decimal point.
( ) ( ) ( ) ( ) ( )
2 1 0 1 2
2 1 2 1 2 1 2 0 2 1 11 . 101

+ + + + =
( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) 75 . 5 1 1 1 1 2 0 4 1 11 . 101
4
1
2
1
= + + + + =
Binary point.
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Radix Point Notation (Binary)
Radix point notation is similar. Here we
show radix notation for binary (radix = 2).
b is a binary digit with values of 0 or 1
31
b is a binary digit with values of 0 or 1.
We can move the binary point right or left by
decreasing or increasing the power of 2 by
which we multiply.
4
2 0 2

=
p p
bbbbb bbbb b
1
2 . 0
2 0 . 2 .
+
=
=
p
bbbbb
bbbbb bbbb b
Binary point.
IEEE Floating Point Standard 754
Single Precision 32 bits
32
( ) ( ) ( )
( ) ( ) ( )
> =

=

value l exceptiona
f e ed denormalis f
f e normalised f
Value
e s
e
s
0 , 0 , ; . 0 2 1
0 , 255 0 , ; . 1 2 1
126
127
Exceptional values: NaN, inf.
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32-bit Floating point example
1 10111101 10100000000000000000000
s e f
1 h ti b
33
s = 1 we have a negative number.
e = 10111101=189
10

f = 10100000000000000000000
f
( ) ( ) ( )
62 127 189 127
2 2 2 = =
e
1.f = 1.10100000000000000000000
=
= 1.625
( ) ( ) ( ) ( ) ( ) ( ) .... 2 0 2 0 2 1 2 0 2 1 2 1
5 4 3 2 1 0
+ + + + + +

32-bit Floating Point Example
Our number is
-1.625
10
* 2
62
7 493989779944505 10
18
(d i l)
34
= -7.493989779944505 x 10
18
(decimal)
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IEEE Floating Point Standard 754
Double Precision 64 bits
35
( ) ( ) ( )
( ) ( ) ( )
> =

=

value l exceptiona
f e ed denormalis f
f e normalised f
Value
e s
e
s
0 , 0 , ; . 0 2 1
0 , 2047 0 , ; . 1 2 1
1022
1023
Exceptional values: NaN, inf.

36
Data Type Low Limit High Limit Exponent
Bias
Precision
Single 2
-126
10
-38
2
128
3x10
38
127 2
-23
10
-7
Inf - Defined as those values outside the
range of representable numbers.
Double 2
-1022
2x10
-308
2
1024
2x10
308
1023 2
-52
10
-16
Any arithmetic operation involving Inf
yields Inf.
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NaN Not a number.
There are two types of NaN:
A signaling NaN signals an invalid operation
37
A signaling NaN signals an invalid operation
exception.
A quiet NaN propagates through almost every
arithmetic operation without signaling an
exception.
Th f ll i ti lt i N N The following operations result in a NaN:

+
/
0 / 0 0
Lecture 12 Problem 1
Determine the decimal value of the following
bit string (it is 32 bits in length.)
10011100111011100110111000000011
38
10011100111011100110111000000011
Assuming the following data types
Uint32 (magnitude)
Int32 (2s complement)
Sign and magnitude g g
Single precision floating point
Create an m-file that displays all four results
in an mbox.
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Determine the decimal value of the following
bit string (it is 32 bits in length.)
01000000111010000110100000000011
39
01000000111010000110100000000011
Assuming the following data types
Uint32 (magnitude)
Sign and magnitude g g
Create an m-file that displays all four results
in an mbox.
Create an m-file that defines a arbitrary 32 character
text string, the contents of which are zeros and ones.
For example,
40
01000000111010000110100000000011
The script then displays the value of the bit string in an
mbox, assuming the four data types below:
Uint32 (magnitude)
Sign and magnitude
Demonstrate your function with a binary value given
by your instructor.
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21
Create an counter that changes state every second.
The repeating LED output sequence is shown below:
41
0 0 0 0 0 0 0 0
1 0 0 0 0 0 0 0
1 1 0 0 0 0 0 0
1 1 1 0 0 0 0 0
1 1 1 1 1 1 1 1
0 1 1 1 1 1 1 1
0 0 1 1 1 1 1 1
0 0 0 1 1 1 1 1
1 1 1 1 0 0 0 0
1 1 1 1 1 0 0 0
1 1 1 1 1 1 0 0
1 1 1 1 1 1 1 0
0 0 0 0 1 1 1 1
0 0 0 0 0 1 1 1
0 0 0 0 0 0 1 1
0 0 0 0 0 0 0 1
Demo___________
Create an counter that changes state every
second.
42
0 0 0 0 0 0 0 0
1 0 0 0 0 0 0 0
1 1 0 0 0 0 0 0
1 1 1 0 0 0 0 0
1 1 1 1 1 1 1 1
1 1 1 1 1 1 0 0
1 1 1 1 1 0 0 0
1 1 1 1 0 0 0 0
1 1 1 1 0 0 0 0
1 1 1 1 1 0 0 0
1 1 1 1 1 1 0 0
1 1 1 1 1 1 1 0
1 1 1 0 0 0 0 0
1 1 0 0 0 0 0 0
1 0 0 0 0 0 0 0
Demo___________
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Questions?
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1
Systems Design
MPC555x Digital Input
The digital output blocks work about the
same as the digital input blocks.
These blocks read a 1 bit digital input
2
These blocks read a 1-bit digital input.
The output of the block is a Boolean data
type.
Use block General Purpose Input located
in library RAppID-Toolbox / GPIO in library RAppID Toolbox / GPIO
Blocks.
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We will modify the ring counter we used
before.
When a push button is pressed the
3
When a push-button is pressed, the
counter will shift the bit to the right.
When the push-button is not pressed, the
counter will shift to the left.
(Right and left are relative. At least I did (Right and left are relative. At least I did
not say clockwise.)
We will start with the ring counter shown
next.
4
Save this model as
PB_Ring_Counter1.mdl.
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3
Place the General Purpose Input block in
your model.
Select an input channel
5
Select an input channel.
Add the remainder of the blocks shown.
6
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After the convert block, the Digital Input
Block will output a numerical value of
either 0 or 1
7
either 0 or 1.
The threshold of the switch is set to 0.5 so
that there is no ambiguity in the switch
state.
Use file MPC5554DEMO_man_G.pdf to
determine the correct pin connection for
your chosen digital input.
Push-Button Switches
The MPC555x Demo boards have four push-
buttons for your use.
Page 7 (Section User Components /
U S it h) f th U M l ifi th
8
User_Switch) of the Users Manual specifies the
properties and pins for the push-buttons:
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Push-Button 1
This switch has a de-bounced output. This means that
when you press or release the button, you only get a
single edge at the output pin.
Think of a toggle switch as two metal balls being flipped
9
Think of a toggle switch as two metal balls being flipped
back and forth by a spring. When the two metal balls
collide, they will mechanically bounce apart repeatedly
until the kinetic energy is dissipated. When the balls are
touching, the switch is closed. When balls are separated,
the voltage dips down. As the balls mechanically
bounce, the voltage bounces up and down as well. g p
Push-Button 1
CMOS Output (Pin 1) Can drive a load.
10
VCC
+
-
3.3 V
10k
SW1
1
2
3
Pin 1
Switch
Debounce
Logic
CMOS Buffer
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Push-Button 1
Open Drain Output (Pin 2) Cannot drive
a large load.
11
VCC
+
3.3 V
10k
Pin 2
Switch
Debounce
Logic
10k
VCC
- SW1
Push-Button 1
The open drain output is logically
equivalent to the following circuit:
12
VCC
+
3 3 V
10k
Pin 2
Switch
Debounce
Logic
10k
VCC
-
3.3 V
SW1
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Push-Button 1 (Pin 2)
When the switch is closed,
pin 2 goes to zero volts.
When the switch is open
13
10k
VCC
When the switch is open,
pin 2 is pulled up to Vcc
volts through the 10k
resistor.
Pin 2
Push-Buttons 2,3,4 (Pins 3,4,5)
These switches are shown below.
Note that the switches are not de-bounced.
14
VCC
+
3.3 V
10k
Pin 3
10k
Pin 4
10k
Pin 5
- SW2 SW3 SW4
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Push-Button Switches
We can use any of the 4 switches (pins 1
through 5) as our digital inputs.
The physical location of the switch
15
The physical location of the switch
connections can be found using file
MPC5554DEMO_TOP_F-G.pdf.
The location of the USER_DEV jumpers is
shown next:
16
Zoom on next slide.
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17
Pin 1
Pin 2
Pin 8
Lecture 13 Demo 1
Wire up your circuit.
Modify the model to display the value of
the digital input and the count using the
18
the digital input and the count using the
FreeMaster tool.
Compile and download the model.
Demo your working system.
The ring counter should change direction The ring counter should change direction
when the push-button is pressed.
Demo___________
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Ring Counter Problem
The preceding example has a problem in
that when you change the direction of the
counter the illuminated LEDmay jump
19
counter, the illuminated LED may jump
several places depending on the count.
We will correct this problem by creating
our own counter.
We will first create a counter that shifts in
one direction, but holds and remembers its
position when a push-button is pressed.
Triggered Subsystems
We will use a triggered subsystem.
Triggered subsystems give us a method to
allowdifferent parts of our programto run
20
allow different parts of our program to run
at different rates.
We will create the system shown next.
This looks pretty close to the previous ring
counter except that we added a triggered
subsystem:
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21
The next slide zooms in
on the triggered
subsystem.
Triggered Subsystem
22
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12
23
The contents of a triggered subsystem
executes once every trigger.
The above subsystem only executes when
it gets positive edge.
We can control how often the subsystem
executes by controlling the trigger.
Triggered Subsystem
In our example, the entire model is
executed once every 0.001 seconds, as
this the fixed time step we specified in the
24
this the fixed time step we specified in the
simulation setup.
The triggered subsystem executes once
every 0.5 seconds, as this is the frequency
we will specify for the pulse generator.
(We will use the triggered subsystem to
increment our counter once every 0.5
seconds.)
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There are two ways to create a triggered
subsystem:
Use the Triggered Subsystem block located
25
gg y
in the Simulink / Ports & Subsystems
library.
Use a standard Subsystem block. Inside the
subsystem place a Trigger block (also
located in the Simulink / Ports &
Subsystems library).
With the trigger block, you can specify a rising
edge, falling edge, both rising and falling
edges, or a function call trigger.
Triggered Subsystem
The pulse generator in our example is set
to generate a rising edge every 0.5
seconds (period set to 500 samples)
26
seconds (period set to 500 samples).
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Triggered Subsystem
The contents of the subsystem are shown below:
27
Double-click on this block to change the trigger
type (rising, falling, either, function call).
Subsystem Operation
The input to the subsystem is numerically
either 0 or 1.
The block is a one simulation time step
28
1
The block is a one simulation time step
delay. The output of the block is the input
from the previous time step.
The Simulink model below would be a
counter that counts up at the rate specified
Z
by the trigger:
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15
Counter
29
When the input is a 1, the counter counts
up every time the subsystem receives a
rising edge.
When the input is a 0, the counter holds.
Mod 8 Counter
In our system, when the count is above
6.5, we set the input to the sum block to -1
so that we get 0 when we add 1 to it:
30
so that we get 0 when we add 1 to it:
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Mod 8 Counter
Some details about the blocks are shown
next.
31
Sum Block
The Output data type mode of the Sum block
should be set to double. If you do not do this,
Simulink may not be able to determine the data
32
Simulink may not be able to determine the data
types due to the feedback loop:
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Unit Delay Block
The sample time of the block should be
set to -1 (inherited) and the initial condition
shouldbe set to zero
33
should be set to zero.
Switch Block
The threshold of the Switch block should be set to
6.5. (We did not choose a threshold of 7 because
you can sometimes have trouble determining if two
34
floating point numbers are numerically equal.)
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Model Sample Times
If you show sample colors on your model
(select Format, Port/Signal Displays,
and then Sample Time Colors fromthe
35
and then Sample Time Colors from the
Simulink menus) you will see that the
subsystem executes at a different rate
than the main portion of the model.
The main model is shown in red indicating
f that it has the fastest sample time.
The subsystem is shown in cyan,
indicating that it is a triggered subsystem:
Sample Time Colors
36
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37
Top level system.
Triggered Subsystem
38
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Lecture 13 - Demo 2
Mod 8 counter using a triggered subsystem.
Wire up your circuit.
Use the FreeMASTER tool to monitor the following signals for
the triggered subsystem:
39 Demo___________
gg y
The input.
The output
The switch output
The output of the 1/z block
The trigger
An example display is shown on the next slide.
The counter should hold when you press the pushbutton.
Lecture 13 - Demo 2
40
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21
You will notice that the counter does hold when
press the bust-button. However, there is a
problem:
41
When the count reaches 7 and you press the
hold push button, all of the LEDs go out and the
count holds (actually at -1).
Fix this problem so that the count always holds
when the button is pushed, the counter always
remembers the count, and there is one LED on
at all times.
Demo___________
Lecture 13 Exercise 2a
Create an up-down ring counter that changes
direction when you press a push-button. (A hold
button is not required).
42
Demo___________
When the push-button is not depressed, the ring
counter goes in the normal direction.
While the push-button is depressed, the ring counter
goes in the opposite direction
The counter should not skip or jump when you
press the button (the count should be press the button (the count should be
continuous).
You are required to use a triggered subsystem
to solve this problem.
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22
Lecture 13 Exercise 2b
Create an up-down ring counter that changes direction
when you press a push-button. (A hold button is not
required).
The push button has memory (similar to a flip flop):
43
Demo___________
The push-button has memory (similar to a flip-flop):
When the push-button is pressed and released, the counter
changes direction.
The counter does not change direction until the push-button is
pressed and released again.
The counter changes direction every time the push-butonis
pressed and then released.
The counter should not skip or jump when you press the
button (the count should be continuous).
You are required to use a triggered subsystem to solve
this problem.
Create an up-down ring counter that changes
direction when you press a push-button. (A hold
button is not required).
44
The counter should not skip or jump when you
press the button. (The count should be
continuous).
A second push-button should be used to change
the counting frequency. You should be able to
change directions and speed simultaneously.
Demo___________
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23
Create two 4-bit ring counters with the following
properties:
One counter shifts to the right, the other shifts to the left.
One counter counts at a 1Hz rate the other at a 10Hz rate
45
One counter counts at a 1 Hz rate, the other at a 10 Hz rate.
Your fixed step size is 1 ms.
Two push-buttons are available that hold the individual counters.
While holding, the counters cannot lose their count. The hold
functions on each counter are independent of the other counter.
You are required to use triggered subsystem to solve
this problem.
Demo___________
Questions?
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1
Systems Design
MPC555x Analog Input
The MPC555x processor has over 40
analog inputs.
There are two analog to digital converters
2
There are two analog to digital converters
on the processor, so only two channels can
be sampled at the same time.
Depending on the sample rate, the
accuracy of the conversion is up to 12 bits.
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Analog Voltmeter - Bar Graph
We will read a 0 to 5 V signal with an
analog input.
We will then scale the measuredvalue to
3
We will then scale the measured value to
light up LEDs in a linear bar graph.
Start with a new model and place the
RAppID-EC block in it.
Set the compiler to Metrowerks p
Set the target type to Internal flash.
You should have an empty model except
for the RAppID-EcoCAR block.
Analog Input
Double-click on the RAppID-EcoCAR
block to obtain the configuration window.
Click on the eQADC block to configure the
4
Click on the eQADC block to configure the
ADC blocks.
Click here.
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3
ADC Prescaler
5
System clock is 128
MHz.
ADC clocks set to 2
MHz. The fastest ADC
clock is about 12
MHz. A higher clock
rate yields less bits of
accuracy.
Command Message
6
Select the Command
Message tab.
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Command Message
7
(2) After clicking the Add
button, zeros appear here.
(1) Click the Add button.
Command Message
8
There are 6 queues. We will
be using Queue 0.
There are two analog to digital
converters. We will be using ADC0.
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Command Message
9 The amount of time it takes to
sample the input waveform is 2
clock cycles. The analog to digital
conversion takes 12 clock cycles.
Thus, the total amount of time it
takes to sample and convert an
analog input is a total of 14 clock
cycles. Since we have a 2 MHz ADC
clock, a clock cycle is 500 ns. At 14
clock cycled per conversion, we can
do a conversion every seven
microseconds, or a conversion
frequency of 142 kHz.
Command Message
10
Choose unsigned since we will be
reading a 0 to 5 V signal.
Choose the analog channel you want to
use. For this example, we will use AN13.
Select Software Trigger and Continuous.
C ti th t ill t k Continuous means that we will take
samples continuously (at a 142 kHz rate we
specified).
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Command Message
11
Click this Apply button.
Notice that the bit string
has changed.
Click this Apply button.
DMA and Interrupts
12
Click on these 4 boxes to
make them green and enable
DMA transfer of the data.
Enabled.
DMA.
DMA
Enabled.
DMA.
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DMA and Interrupts
13
When the 4 buttons are shown in
green, click on this button to
configure the DMA channels.
DMA and Interrupts
14
(1) Click the Apply button.
(2) Click the OK button.
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RAppID Setup
15
Click the save button, and
then select File and then
Exit.
eQADC Block
Next, we can place an ADC block in our
model.
Place a block called eQADC getdata
16
Place a block called eQADC_getdata
from library RAppID-Toolbox / Peripheral
Driver Blocks / eQADC Blocks in you
model:
Double-click on this block.
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eQADC Get Data
17
Select this channel, then
click the Apply button,
then click the OK button.
eQADC Block
18
If you followed all of the steps,
the ADC channel should be
displayed here. p y
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eQADC
We will not be using the timestamp
output, so we will connect it to a
terminator
19
terminator.
The data output is:
Has 12 bits of resolution.
Returned as an unsigned 16-bit integer
(UINT16)
Centered in the middle 12 bits of the 16 bit
integer! We need to divide by 4 to get at
the 12 bit integer.
Voltmeter Model
The remaining logic of our model is shown
in the next three slides:
20
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11
Voltmeter Model
21
eQADC Initialization
The last thing we need to do is initialize
the ADC at system start-up.
Place a block called Simple Target
22
Place a block called Simple Target
StartupHook in your model. (Library
RAppID / Utility Blocks / Simple
TargetHookRoutuines.)
This block generates a function call trigger
at system startup. We will use this to
trigger a subsystem at startup.
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System Init
Place a triggered Subsystem in your model
and change the trigger type to a function call
trigger. Your top level model should look as
23
shown:
System Init
In the triggered subsystem, place a block
called eqadc_triggercmd located in
library RAppID-Toolbox / Peripheral
24
library RAppID Toolbox / Peripheral
Driver Blocks / eQADC.
Change the FIFO Queue to Queue 0
(same as we specified in the eQADC
setup slides.)
You subsystem should look as shown on
the next slide:
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13
System Init
25
This block initializes the FIFO Queue and
starts the ADC converter.
Analog Voltage Reference
The last thing we need is a 0 to 5 V signal.
The MPC555x Demo board has two
potentiometers that will generate this
26
p g
signal.
The voltages are available on the same
jumper as we used for the push-button
switches.
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14
Analog Voltage Reference
Pins 7 and 8 are connected to two
separate potentiometers.
We can use either one as our input.
27
p
The location of the pins and the
potentiometers are shown on the next
slide.
28
Zoom on next slide.
Pot RV2
Pot RV1
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15
29
Pin 8 (for RV2)
Pin 7 (for RV1)
Lecture 14 Demo 1
Analog Input Demo
Wire up you circuit.
30
Display all signal values using FreeMASTER:
Demo your working analog voltmeter / bar graph.
Demo___________
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16
Embedded MATLAB Functions
Before we look at our next example with analog
inputs, we will look at the Embedded MATLAB
Function.
31
This function allows us to use MATLAB functions
within a Simulink model.
The Embedded MATLAB Function block supports a
subset of the language for which it can generate
efficient embeddable code.
For details about the Embedded MATLAB subset,
see Working with Embedded MATLAB in the
Embedded MATLAB documentation.
To generate embeddable code, the Embedded
MATLAB Function block relies on an analysis
that determines the size and class of each
32
variable.
This analysis imposes the following additional
restrictions on the way in which the above
features may be used.
The first definition of a variable must define both its
l d i Th l d i f i bl class and size. The class and size of a variable
cannot be changed once it has been set.
Whether data is complex or real is determined by the
first definition.
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17
The preceding limitations require you to code in a certain
style.
Some common idioms to avoid are listed in Limitations
on Indexing Operations and Limitations with Complex
33
on Indexing Operations and Limitations with Complex
Numbers in the Embedded MATLAB documentation.
In addition to language restrictions, Embedded MATLAB
Function blocks support only a subset of the functions
available in MATLAB.
A list of supported functions is given in the Embedded
34
A list of supported functions is given in the Embedded
MATLAB Run-Time Function Library in the Embedded
MATLAB documentation.
These functions include common categories
Arithmetic functions like plus, minus, and power
Matrix operations like size, and length
Ad ancedmatri operations like l in s d and chol Advanced matrix operations like lu, inv, svd, and chol
Trigonometric functions like sin, cos, sinh, and cosh
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18
Ring Counter
As an example of using an Embedded
MATLAB Function, we will modify the ring
counter model we developed earlier
35
counter model we developed earlier.
Instead of using the compare to constant
blocks, we will use a single Embedded
MATLAB Function block.
The ring counter model we will start with is
shown next.
36
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19
Ring Counter
Remove the Compare to constant blocks and
place a single Embedded MATLAB
Function block in your model.
37
y
The block is located in library Simulink /
User-Defined Functions.
Note that the default block has a single input
and single output.
38
Double-click on this
block to open it.
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20
Embedded MATLAB Function
When you open the Embedded MATLAB Function
block, a text editor opens and displays the
function.
39
Note that the block inputs and outputs are derived
from the function declaration in the first line of the
function.
40
The block will have a single
output labeled y.
The block will have a
single input labeled u.
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21
We have a single input that is the count.
We need eight outputs, one for each LED.
A l i l t ti i h t
41
An example implementation is shown next:
42
Eight outputs have
been defined, labeled
y0 through y7.
Function block
named
LED_Out.
Input named
count.
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22
43
Outputs predefined as
false and declared as
Boolean data types.
We will not need a
convert block.
A pretty lame
implementation.
When we save the function and look at the
Simulink model, we see that the block
name input and outputs reflect the
44
name, input, and outputs reflect the
function declaration:
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23
Connect the function as shown.
We will need a convert block for the input
to convert the data type of the free running
45
to convert the data type of the free running
counter to double.
When you type ctrl-d, you will notice that
the output signals from the LED_Out block
are Boolean data types.
46
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24
A different realization of the embedded function
is shown below:
47
The last implementation we will show uses
a row vector for the output.
48
The function has a single output, but it
contains 8 values contains 8 values.
When you look at the block, it will have a
single output:
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25
49
Block has a single
output that is a
vector of 8 values.
We need to run the Simulink Model Explorer to
specify the output as a row vector.
Select View and then Model Explorer fromthe Select View and then Model Explorer from the
Simulink menus.
Select Embedded MATLAB Function from the
tree:
50
Embedded Matlab
F i bl k
Input and output
variables for our
function.
Click here to select
the output variable.
Function block
selected.
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26
51
Variable y selected.
Size is specified as -1
which means that
Simulink must figure it Simulink must figure it
out.
52
Click Apply and then
close the Model Explorer.
Size specified as a row
vector [1, 8]. This
matches our function matches our function
definition.
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27
53
Use a Demux and specify the
number of outputs as 8.
Lecture 14 Demo 2
D ki t
54
Ring counter with embedded Matlab function.
Demo___________
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28
Create an up-down ring counter where the
up/down function and the ring counting logic is
contained in an Embedded MATLAB Function
55
Demo___________
block.
As push-button is used to change directions of
the counter.
The counter is allowed to skip positions when
you press the push-button.
You may use a counter external to the
embedded Matlab function if you so desire.
Create an up-down ring counter where the up/down
function, the ring counting logic, and the stored count is
contained in an Embedded MATLAB Function block.
As push button is used to change directions of the
56
Demo___________
As push-button is used to change directions of the
counter.
The counter is not allowed to skip positions when you
press the push-button.
The embedded function must keep track of the count.
You may not use an external counter to keep track of the
t (I th b dd d M tl b f ti h count. (In essence, the embedded Matlab function has
memory.)
You may want to use the Matlab persistent and isempty
functions.
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29
Create a ring counter using a Truth Table.
Truth Tables are located in the Stateflow
57
Truth Tables are located in the Stateflow
library.
Demo___________
Serial Communication
We will now show an example of using the
Enhanced Serial Communication Interface
(eSCI)
58
(eSCI).
This will show examples of:
Embedded MATLAB function
For Iterator
Index Vector
We will start with the voltmeter me made
earlier.
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30
We will convert a 0 to 5 V analog signal to
a numerical value of 0 to 500.
We will convert the number to an array of
59
y
ASCII codes.
We will output the codes to the serial COM
port and view it with a terminal program
such as HyperTerminal.
W ill t i d b t t We will use a triggered subsystem to
output the text string once a second.
The top level model is shown next:
60
This is the same model we
used for the original
voltmeter except for the
triggered subsystem and
added gain block.
Gain =1/16.
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31
61
Scale the analog
signal to 0 to 500.
Trigger the subsystem
once a second.
Look in here.
Output ASCII Text String
62
This function converts the numerical value of the input
to an array of ASCII values. The function outputs the
array (output data array) and the number of values in array (output data_array), and the number of values in
the array (output len).
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32
63
Declare the arrays. 32 is
the ASCII code for a space.
If the numerical value is 0, set the
fi t l t i th t 48 th first element in the array to 48, the
ASCII code for 0.
If the numerical value is negative,
set the first element in the array to
45, the ASCII code for -.
If the numerical value is negative,
convert it to a positive number for
the remainder of the conversion.
64 Get the least significant digit in the number
(ignore the fractional part of the number.).
The ASCII codes for 0 through 9 are
48 through 57.
Shift the number to the right by one
digit
Reverse the order of the array
because we started with the least
significant digit.
digit.
Tack on a line feed and carriage
return.
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33
Embedded Functions
To see what the function does, we can
copy and paste the function into an m-file
and then test it at the command prompt
65
and then test it at the command prompt.
Some examples are shown next:
66
ASCII 32 is a space.
ASCII 13 and 10 are a carriage return and a line feed.
ASCII 3
ASCII 2
ASCII 1
ASCII -
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34
67
Note that this output is an array.
N t l k i id thi b t Next, look inside this subsystem.
This is a For Iterator Subsystem block. It
is located in the Simulink / Ports &
Subsystems library.
68
Iterate from 1 to the length of the ACSII string. (The value of output len in the previous
slide.). Make sure you check the indexing method. Make sure that it is ones based.
This signal line is an
array of values.
Using the index provided by the For Iterator, step
through the values in the array. Make sure that you
check the indexing method. Make sure that it is
ones based.
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69
Transmit 1 character at a
time.
This block located in library RAppID-
Toolbox / Peripheral Driver Blocks /
eSCI Blocks.
Serial Output
Using a 9-pin serial cable, connect your
computer to COM 1 of the MPC555x
board
70
board.
Use hyper terminal to view the results.
You will need to set the baud rate
appropriately. (57600, 8-N-1)
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36
Lecture 14 Demo 3
D ki t
71
Analog voltmeter with ASCII output.
Demo___________
Function Call Triggered Subsystems
For the next example, we will show how to
force a sequence of events to occur in a
specific order
72
specific order.
We will do this with triggered subsystems
that use a function call for the trigger.
The previous example just output a
numerical value between 0 and 500.
We would like to output the text, Analog
Input 1: ).
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37
Next, we would like to output the text
equivalent for the number.
Finally we would like to output a period
73
Finally, we would like to output a period,
carriage return, and a line feed.
We will break up the three sections into
three triggered subsystems.
We will showhowto force the subsystems We will show how to force the subsystems
to execute in a specific order.
We will use the previous Voltmeter model
and make a few modifications.
The changes are shown below:
74
The changes are shown below:
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38
75
Generate a rising edge
once a second.
Standard rising edge triggered
subsystem. Lets look inside.
76
All this subsystem does is
generate a function call
trigger. Basically, we are
converting an edge
trigger to a function call
trigger trigger.
This block is located in
library Simulink / Ports
& Subsystems. Double-
click on this block to view
its parameters.
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39
Function-Call Generator
77
Sample time set to -1
(inherited) because we
are inside a triggered
subsystem.
Generate 1 function call
each time this subsystem
is triggered.
78
This is a DEMUX with 3 outputs.
One edge here triggers all three
subsystems once, in order from left to
right.)
This system
triggered last.
This system
triggered first.
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40
Subsystem1
79
Trigger changed from rising edge to
function call.
This subsystem outputs
the same text string all the
time.
Same subsystem we had in the
previous model for outputting ASCII
characters through the eSCI.
Subsystem2
80
The embedded function was modified slightly.
The carriage return and line feed are no
longer added at the end of the number. The
modified function is shown next.
function call.
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41
81
These line modified. The line feed and
carriage return are not added to the array.
Subsystem 3
82
function call.
This subsystem outputs the same text string all
the time. (A period, carriage return, and a line
feed.
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42
Lecture 14 Demo 4
E l t t f d l i h
83
Example output from my model is shown
below:
Demo___________
Read two analog input voltages. Use
potentiometers RV1 and RV2 as your inputs.
Use RV1 to control the output of your LED
84
p y
voltmeter.
Output the following text strings every second,
and in the same order (must be forced in this
order using function call triggered subsystems):
Analog Input 1: xxx. g p
Analog Input 2: yyy.
Demo___________
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43
Use the analog input and a potentiometer to
control the speed at which your ring counter
shifts.
85
The counter frequency should be continuously
variable from 1 Hz to 10 Hz.
Demo___________
Questions?
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1
Systems Design
RHIT Debug Blocks
In lecture 14 we learned how to write ASCII
text to the eSCI port and display that text
with a terminal programsuch as MS
2
with a terminal program such as MS
Terminal.
The display was somewhat limited as we
could only display line after scrolling line:
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2
Terminal Emulation
When you ran MS terminal, you might have
seen something that reminded you of days
gone past (if you are old like me):
3
gone past (if you are old like me):
Emulation is Emulation is
VT100.
Video Terminals
Back in the days of mainframes and video terminals
that printed on paper, VT100 video terminals were the
terminals that dreams were made of.
4
Most people used terminals that printed on paper
using a ribbon and a 9-wire head. (If you could afford
it, you would have a 24 wire printer.)
Techie with toys, professors with huge research
grants, and geeks that would buy hardware rather
than food, used video terminals.
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3
VT100
The VT100 was introduced by Digital
Equipment Corporation (DEC) in 1978.
The screen had a resolution of 80
5
The screen had a resolution of 80
characters wide by 23 lines.
Typically, in a video terminal as with
terminals that printed on paper, text would
print one line at a time.
Text would move to the next line if you
sent the printer a carriage return and a line
feed.
Escape Control Sequences
The cool thing about the VT100 is that it had non-
printing key sequences that allowed you to move the
cursor around the screen, highlight and underline text,
6
and many other screen functions.
We will reach back into the distant past of 1978 to
dredge up ESCape key sequences to make the ASCII
text debugging tool more useful.
Along the way, we will learn escape key sequences,
high tech in 1978, which will impress absolutely no
one when you go for a job interview.
However, we will make some useful debugging tools.
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4
Terminal Emulation
First, we must set MS Terminal to emulate
a VT100 so that it will respond to escape
sequences
7
sequences.
Select File and then Properties from the
MS Terminal menus:
Terminal Emulation
Select the Settings tab and then specify
VT100 as the Emulation:
8
Emulation set to
VT100
Click the OK button
when done
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5
Escape Codes
You can usually find the escape key sequences if you
search on Google for VT100 Escape Codes.
Some codes are
9
<ESC>[H - Move the cursor to the home position. (The upper left
corner.)
ESC>[{row};{column}H Move the cursor to the specified
coordinates. 1,1 is the upper left corner (home). The column can go
from 1 to 80, the row can go from 1 to 23.
<ESC>[K - Erase from the current cursor position to the end of the
line. line.
<ESC>[1K - Erase from the current cursor position to the beginning
of the line.
<ESC>[2J - Erase the entire screen.
Escape Codes
<ESC>[{attr1};{attrn}m -Set Attributes.
0 Reset all attributes
1 Bright
2 Dim
10
2 Dim
4 Underscore
5 Blink
7 Reverse
8 Hidden
Source: http://wwwtermsys demon co uk/vtansi htm Source: http://www.termsys.demon.co.uk/vtansi.htm,
Date accessed February 1, 2010.
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6
RHIT Library
In lecture 14, we learned how to send text
strings.
Escape key sequences are just non-printing text
11
p y q j p g
strings.
We will use them to place text on the screen in
specific locations and with various properties.
We have created a library of blocks for Rose-
Hulman.
The library is named A_My_Library and can be
found using the Simulink Library Browser.
RHIT Library
It was called A_My_Libraryso that it would
appear at the top of the list:
12
The RHIT library.
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7
RHIT Library
The RHIT Library has a sub-library called
MPC555x Debug Blocks.
This contains a number of blocks that use
13
This contains a number of blocks that use
the eSCI port to display text messages using
the VT100 Escape codes.
Before we start, we will open model
Volt_Meter3 (passed out as
Lecture14A_Model0).
Save the model as Lecture14A_Model1.mdl.
ASCII Test String Output
If you notice, this model used triggered subsystems to
display a text screen on the terminal screen.
14
Triggered subsystems to gg y
display text.
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8
RHIT Debug Blocks
Block MPC555x ASCII Debug Block in library
A_My_Library / MPC555x Debug Blocks is a
subsystem created from the blocks enclosed in
15
the red box on the previous slide.
The subsystem is masked, and passes
parameters to the subsystem contained within.
The block is shown below:
MPC555x ASCII Debug Block
The input to the block is the numerical
value it will display
If you double click on the block it will open
16
If you double-click on the block, it will open
as if it were any other Simulink block:
Here you enter the text
you wish to be
displayed before the
i l d th numeric value and the
rate at which you want
the value refreshed (in
milliseconds).
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MPC555x ASCII Debug Block
Click the OK button to close the dialog box.
If you right click on the MPC555x ASCII Debug Block and then
select Look Under Mask, you will see the subsystem that
implements the block:
17
implements the block:
This is the same set of blocks
that we used to display an
ASCII text string in the volt
meter model.
The only difference is that the
text before and pulse text before and pulse
generator period are specified
using masked subsystem
parameters rather then hard
coded into the constants.
MPC555x ASCII Position Debug Block
The MPC555x ASCII
Position Debug
Block is the same as
18
Block is the same as
the Debug Block
except that is uses
ESCape key
sequences to position
the cursor at a the cursor at a
specified position on
the VT100 screen:
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10
MPC555x ASCII Position Debug Block
If you look under the mask, you will see that the
text string contains the sequence <ESC[
{row},{Column}H.
19
Note that 27 is the ASCII code for the ESCAPE
key.
Debug Blocks
Several other blocks are defined for placing
text a specific locations on the screen and
makingthe text underlined, reverse, or
20
making the text underlined, reverse, or
blinking.
Note that the MPC555x Debug Clear Screen
block only clears the screen and should be
used as the first block called to clear the
d t d ld t t screen and remove unwanted old text.
The input to the clear screen block is a trigger.
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11
Lecture 14A Problem1
Add debug blocks to model
Lecture14A_Model1 to obtain the display
shown on the following slide
21
shown on the following slide.
Values should be updated every 250 ms.
No unwanted text should appear on the
screen.
22 Demo___________
This text goes bright
if the value goes
above 448.
This value is always
underlined.
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12
We would like to create a new subsystem block that
displays text with the following characteristics.
The input to the block is a numerical value of type
double
23 Demo___________
double.
The block should be a masked subsystem that specifies:
The row and column where the block is placed on the screen.
The text displayed on the screen before the numerical value.
The period in milliseconds at which the numerical value is
refreshed.
Two thresholdvalues: Two threshold values:
When the numerical value is below Threshold1, the text is displayed in
black.
When the numerical value is between Threshold1 and Threshold2, the text is
underlined.
When the numerical value is above Threshold2, the text blinks.
Questions?
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1
Systems Design
Analog Output (PWM)
PWM
A high current variable DC supply is hard
and expensive to build.
Many systems have a fixed voltage DC
2
Many systems have a fixed voltage DC
supply available.
We can make a variable DC supply by
chopping a constant DC supply on and
off at high frequency.
The average value of the voltage is
variable.
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2
PWM
3
+
-
5 V
+
-
V
O
PWM
4
t
ON
T
V
s
s
V
T
t
V V
on
avg
25 . 1
50
5 . 12
5 5 =
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PWM
In a PWM waveform, we vary the on time
and keep the period constant.
5
t
ON
T
V
s
s
V
T
t
V V
on
avg
5 . 2
50
25
5 5 =
PWM
6
T
t
ON
V
s
s
V
T
t
V V
on
avg
75 . 3
50
5 . 37
5 5 =
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7
T
PWM
From a circuit point of view, we can extract
the average value using a low pass filter.
Choose the cutoff frequency (F ) of the
8
Choose the cutoff frequency (F
C
) of the
filter to be much less than the frequency of
the PWM waveform.
Note that the frequency of the PWM
waveform F is 1/T.
R
+
-
C
+
-
PWM Waveform In
Analog Voltage
(Average) Out
RC
F
C
2
1
=
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5
PWM
Note that objects with a large inertia
cannot respond on a microsecond time
scale
9
scale.
These items respond to the average of the
waveform rather than the instantaneous
value.
Examples are solenoids and motors.
We can speed control a motor using
pulse-width modulation.
MPC555x eMIOS PWM Output
10
Both inputs use a UINT32 data type.
The duty cycle has a range of 0 to 100%
and a resolution of 1%.
The frequency input is 1 bit per Hz (I was The frequency input is 1 bit per Hz. (I was
able to set a PWM frequency from 10 Hz to
1 MHz. See datasheet for more
information.)
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6
Open the block to specify the initial duty
cycle, the initial PWM frequency, and the
PWMchannel:
11
PWM channel:
In file
MPC5554DEMO_man_
G.pdf, search for the
text EMIOS to find the text EMIOS to find the
pin number for your
channel.
Mobile Studio Desktop
Create the model shown below.
Build your model and download it to your
MPC555x board
12
MPC555x board.
We will use Mobile Studio Desktop to
observe the output waveforms for this
lecture.
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Mobile Studio Desktop is a combination
hardware/software solution that replaces traditional
bench top in an educational lab with a single board
13
that plugs into your laptops USB port.
Instruments included are an oscilloscope, spectrum
analyzer, function generator, and logic analyzer.
The product was developed as a joint venture
between Rose-Hulman Institute of Technology and
Rensselaer Polytechnic Institute
The hardware board is shown below:
14
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8
We will be using Channel 1 of the
oscilloscope to display the PWM
waveform
15
waveform.
Hook up two clip leads to the A1+ and
Ground terminals of the board as shown:
Channel 1 positive
reference (A1+).
Channel 1 ground
reference.
Mobil Studio Desktop
Plug in the USB cable into the board and your
computer.
Connect the A1+terminal to the PWM output pin on
16
p p
your MPC555x board
Connect the ground terminal on the Mobile Desktop
Studio board to a ground pin on your MPC555x board.
Run the Mobil Studio Desktop application from your
PC.
The application is in the Windows Start Menu at
Rensselear/Mobile Studio Desktop/Mobile Studio
Desktop.
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17
Click on the Oscilloscope icon
to open the Oscilloscope
Window
Oscilloscope
18
Your window will look a little
different. Click on Windows
here to modify the controls
that are displayed.
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Oscilloscope
Select Windows and then choose to
display Channel 1 and the Horizontal
Settings
19
Settings
20
Horizontal settings
Time/Div: 100 s
Mode: Y-T
Channel 1 settings
Coupling: DC
Click the Start button to
start the oscilloscope
d di l th
Volts/Div: 2 V
and display the
waveform.
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PWM Waveform
The PWM Waveform is shown below:
21
Lecture 15 Demo 1
Verify that the frequency is 20 kHz and that
the duty cycle is 50%
22
the duty cycle is 50%.
Display waveforms of the PWM output with
the Mobile Studio Desktop Oscilloscope
Demo___________
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MPC5554 eMIOS PWM Output
Next, we would like to create a 60 Hz
analog sine wave using the PWM output.
Create the model shown:
23
Create the model shown:
Time-based sine
wave.
The settings of the sine
wave are shown below.
Note that the pulse width
24
never goes to 0 or 100
%.
Observe the output PWM
waveform and show that
the frequency is constant
but the pulse-width
changes.
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Lecture 15 Demo 2
Demo the PWM output of the sine wave
using a 2 kHz PWM waveform.
The duty cycle should change with the
25
The duty cycle should change with the
sine wave input.
We are using a 2 kHz waveform so that
we can easily see that the pulse-width
change with the sine wave.
When we filter the sine wave later, we will
need to increase the PWM frequency to
generate a smooth analog waveform.
Lecture 2 Demo 2
Sine Wave Modulated PWM Waveform
26
Demo___________
Duty cycle close to
100%. Sine wave is
Duty cycle close to
0%. Sine wave is
close to 5 V.
close to 0 V.
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Lecture 15 Demo 3
Add the filter shown below and observe a 60 Hz Sine Wave at
the output of the filter.
Choose the cutoff frequency of the filter to be 600 Hz or higher.
27
q y g
(A decade above 60 Hz)
You may need to increase the PWM frequency to reduce the
ripple on the filter output. (20 kHz or higher.)
Display the Sine wave on Channel 1 of the scope, Display the
PWM waveform on Channel 2 of the scope.
R
Demo___________
+
-
R
C
+
-
Motor Control Demo
Create the following model.
28
Analog voltage Read the analog
Use a PWM
block to generate
a 20 kHz PWM
signal with the
Connect the
PWM output
directly to the
PWMinput of our
g g
from a
potentiometer.
g
voltage and
scale it to a value
from 0 to 100.
g
duty cycle
determined by
the
potentiometer.
PWM input of our
Motor demo box.
(Dont do this
until we verify the
PWM Signal.)
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Lecture 15 Demo 4
1) Before connecting the motor, verify that
you can use the POT to control the output
duty cycle (Display in the scope)
29
duty cycle. (Display in the scope)
Verify this signal.
Demo___________
Motor Control Demo 5
2) Once you have verified the PWM signal
on the scope, connect the PWM output of
the MPC555x to the PWMinput of the
30
the MPC555x to the PWM input of the
motor controller demo.
3) Verify the motor speed is controlled by
the potentiometer.
Demo___________
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Questions?
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1
Systems Design
Hardware In The loop Simulations
HIL
Up to this point we have:
Learned several levels of simulations: Model-
in-the-Loop (MIL), Software-in-the-Loop (SIL)
2
in the Loop (MIL), Software in the Loop (SIL)
and Real-Time.
Learned several software packages:
MATLAB, Simulink, RAppID, FreeMASTER,
Used many platforms: Windows, xPC
Used several different hardware targets: PC Used several different hardware targets: PC,
xPC, MPC5554.
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HIL
It is now time to put it all together and perform
Hardware-in-the-loop (HIL) simulations.
We will start with the full model developed in
3
p
Lecture 10A and split the model so that:
The controller runs in the MPC5554 target.
The plant runs on the Speedgoat xPC target.
The two targets will be connected with a wiring
harness, the same harness that will be used in
the final product.
Both models will run in real time.
HIL
This is a test of the controller:
Hardware - It is running on the target we will
use in the final implementation.
4
Speed - It is running in real time.
Wiring Harness - It is connected to the plant
using the same interface that will be used in
the final implementation.
If the controller works when hooked to our
virtual plant, we have confidence that it will
work when we hook it to the physical plant.
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HIL
We will start with Lecture10A_Model3.mdl and
split it into two models, the plant and the
controller.
The plant will:
5
The plant will:
Run on the xPC Target.
The xPC Target: Speedgoat I/O Driver blocks will be
used to create a shell to interface between the model
and the physical world.
The inputs and outputs will be analog voltages.
The controller will
Run on an MPC5554 target.
Use RAppID to interface between the model and
physical world.
The inputs and outputs will be analog voltages.
HIL
We will be using the test platform below:
6
Controller Interface
Computer Model of the
Plant
Controller deployed on an
MPC5554 computer.
Speedgoat xPC real-time computer
running a model of the plant.
Same physical interface as
in the actual system.
(Wiring for analog signals
in our example.)
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HIL
We will split the development of the HIL
system into several steps:
1 We will deploy the controller on to the
7
1. We will deploy the controller on to the
MPC5554 target.
2. We will deploy the plant on to the xPC
target.
3. We will test the plant with analog inputs and
verify its operation verify its operation.
4. We will connect the controller and plant
together using a wiring harness.
5. We will test the entire system.
HIL
If the controller on the MPC5554 target works
successfully in the HIL simulation:
We will take the final step of testing the controller
8
by connecting it to the physical plant.
If it works, we will drink (depending on your state
of mind):
Champagne
An energy drink
Mountain Dew (non-diet for the full compliment of sugar)
Or all of the above in no specific order.
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HIL Simulations
9
Part 1: Implementing the
C t ll th MPC5554 T t Controller on the MPC5554 Target
Motor Controller Deployment
From lectures 11 through 15, we now know how
to use the hardware resources of the MPC555x
well enough to use it as the target for the
10
controller of our motor-generator system.
We will use the control method we proved,
tested, and verified in the MIL, SIL, and real-
time portions of the class.
First, we will create a shell that accesses the
hardware resources of our target (MPC555x).
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The controllers we developed for our
motor-generator system all used the
following input:
11
following input:
Speed Set point A continuous (analog)
signal between 0 and 1. We will use one of
the potentiometers on the MPC555x board for
this reference. We read this as a 5 V signal
and then scale it to 0 to 1 in the MPC555x.
following input:
12
following input:
Motor rpm An analog signal measured from
the motor rpm sensor (shaft encoder). The
encoder outputs a signal that is 2.5 V per
1000 rpm. We scale this signal to 0 to 4 V with
resistors and then read the signal with the g
MPC555x. Internal to the MPC555x, the
signal is scaled to a number between 0 and 1.
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following input and outputs:
13
Controller Realization
on the MPC5554 Target
following input and outputs:
Controller Output In our simulations, the
torque request from the controller was a
signal between 0 and 1. We will scale this
signal to 0 to 100 and then use PWM output
of the MPC555x to directly drive our motor.
MPC5554
y
MPC5554
Target
following output:
14
following output:
Motor torque request. An analog signal
between 0 and 1. The realization will be a
PWM signal between 0 and 100%
The actual input to the plant is a PWM input
that directly controls the gate of a MOSFET that directly controls the gate of a MOSFET
chopper circuit.
The PWM output of the controller directly
modulates the waveform to the motor.
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Hardware Shell
We will now create a top-level shell for
our controller that:
Initializes the MPC555x
15
Initializes the MPC555x.
Reads and scales the analog inputs.
Passes the information to a subsystem that
contains our control method.
Outputs a PWM signal for the requested
torq e torque.
Hardware Shell
The basic idea is that our interface to the
hardware will not change that much.
Given the same interface, we can make
16
,
significant changes to our control method.
All of these changes will be implemented in the
The hardware shell will remain relatively
unchanged. (Occasionally, a new control g ( y,
method will require new inputs or outputs. In this
case, we will need to modify the hardware shell.)
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Hardware Shell
17
Target Setup Block
Start Analog Input Queues
Board Alive Flashing
Lights
Hardware Shell
18
All controller logic goes in
here.
Read two analog input
channels.
Scale analog inputs to a
signal range of 0 to 1.
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Hardware Shell
19
All controller logic goes in
here.
Range of controller output
signal is 0 to 1
PWM output to drive motor.
signal is 0 to 1.
Scale signal to 0 to 100.
ASCII Output
As a last
enhancement,
we will display
th d i d d
20
the desired and
measured rpm
using RHIT
Debug blocks
we used earlier.
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11
FreeMASTER
It is also suggested that you use FreeMASTER to
monitor signals within the controller including the
Speed_Setpoint, Measured_Speed, and the controller
Torque Request output.
21
Torque_Request output.
Debugging Tools
Note that you might not be able to use
both the FreeMASTER tool and the RHIT
debug blocks at the same time as they
22
debug blocks at the same time as they
both use the eSCI port.
You can attempt to use both. However, if
they are incompatible, you should use the
one you feel most comfortable with and
the one that gives you the most
information and help in debugging the
system.
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Complete Hardware Shell
23
Next, we put our control
logic in here.
Controller
We now will use the controller from Lecture10A_Model3.
Note that this model was an SIL test and had two versions
of the controller, an s-function and a Simulink model. We
S
24
will be using the Simulink model, as it will be compiled
and downloaded to the MPC555x target.
The idea is that we proved the controller in Lecture 10A in
many simulation methods and this is the most mature of
our controller models.
In the HIL simulation we are about to run, except for any
misunderstanding of the hardware target performance or
the wiring interface between the controller and plant, the
controller performance should be close to what we
observed during our previous simulations.
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13
Controller.
Lecture10A_Model3 was the most mature
controller we developed.
The last tests we did were our SIL
25
The last tests we did were our SIL
simulations.
The model is shown on the next few
slides.
SIL Model
26
Most of the stuff in here goes in
our controller in the target. (Look
inside on next slide.)
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SIL Model - Controller
27
This is our controller logic. Copy
this and paste it into the controller
subsystem for our target.
This will not go in our controller as the signal is already
constrained to be between 0 and 1 by the analog input
channel plus the scaling. It could be left in just for safety
incase the controller hardware is changed.
MPC555x Target - Controller
28
Note that we cannot change the gains in real-time. To
change the gains, we will need to change the gains in
the model, build the model, and then download the
model to the target.
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Controller
Build the model and download it to the
MPC5554 target.
We will not be able to test it yet but you
29
We will not be able to test it yet, but you
should verify that the two LEDs flash and
toggle back and forth.
We are now ready to work on the plant.
HIL Simulations
30
Part 2: Implementing the Plant on
th S d t PC T t the Speedgoat xPC Target
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Plant Model
In Lecture 10, we simulated the entire model
(plant and controller) using xPC Target.
Here we want to run just the plant on xPC
31
Here we want to run just the plant on xPC
target.
The same plant model was used for Lecture 10
and Lecture 10A.
Thus, we will use model Lecture 10 as a Thus, we will use model Lecture 10 as a
starting point.
Most of the settings used in lecture 10 will apply
here as well.
Lecture 10 Model 3
32
Resave this model as Resave this model as
Lecture15A_Plant.mdl
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Plant Model
At the top level, delete the controller and
control inputs.
33
Plant Model
Inside the plant is a single xPC Target
Scope displaying the motor speed in rpm.
Add xPC Target scopes to display:
34
Add xPC Target scopes to display:
The Torque Request input to the plant.
The Number of Bulbs input to the plant.
The encoder output in volts.
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Plant Model
35
xPC Target Scope
added here!
xPC Target Scope
added here!
Encoder Model
36
xPC Target Scope
added here!
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Speedgoat target.
We are going to use the Speedgoat Target libraries
and I/O blocks to provide physical inputs and
outputs for out plant model.
W t fi t fi th h d th
37
We must first configure the hardware on the
Speedgoat PCM730 board.
We did this in Lecture 3A, but we will review it here.
Place a Simulink block named PMC730 5 located in
the xPC Target: Speedgoat I/O Driver Library /
IO101 lib i d l IO101 library in your model.
PMC730 Acromag Setup
This single block is used to setup all functions of
the PMC730 card.
Only 1 copy of this block is needed to set up the
38
y py p
analog I/O and digital I/O facilities of the card.
Double-click on the block to open it.
Note that the block will appear differently
depending on the parameter group selected.
The screen captures on the next page showthe The screen captures on the next page show the
same block with different Parameter groups
selected.
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39
PMC730 5 Acromag Setup Bblock
We notice that the module identifier in all of the
screen captures on the previous slide was set to 1.
40
target, we can use this card to address each PMC730
individually.
Our targets have a single PMC730 installed, so the
module identifier will be specified as 1.
We will nowset the parameters on this block to have We will now set the parameters on this block to have
a single analog input and a single analog output.
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We fist must specify the Module setup.
Since we only have a single PMC730 module, we can
specify that xPC automatically determine in which slot
th PMC730 i i t ll d If h d th
41
the PMC730 is installed. If we had more than one
PMC730 installed, we would specify the slot
manually:
Module 1 specified.
Module setup specified. p p
Automatically determine which
slot the card is installed.
We need to specify two channels for analog input:
42
Module 1 specified.
We are configuring the analog inputs We are configuring the analog inputs.
For multiple channels, start with
channel 1 as the first channel.
We will have 2 input channels.
Measure the input between the
channel input and ground.
Both analog inputs are always positive and
between 0 and 10.
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We need to specify one channel for analog output:
43
Module 1 specified.
Specify channel 1 as the only
input.
Analog Output
Next, we will add an analog output block to the
plant output.
Place a block called PMC730 2 located in the
44
xPC Target: Speedgoat I/O Driver Library /
IO101 library in your model.
Connect it to the plant as shown:
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Analog Output
The settings for the analog output block are:
45
We are using the analog output We are using the analog output
channel of the PMC730 identified
as module 1 in the setup block.
This is the same as the fixed time step
we will use in the simulation. If you
recall fromLecture 10 we needed a recall from Lecture 10, we needed a
fixed time step of 0.001 seconds for the
model to run correctly.
Analog Input
We will use an analog input channels to measure the torque
request and number of bulbs.
Place a block called PMC730 1 located in the xPC Target:
Speedgoat I/O Driver Library / IO101 library in your model.
46
After placing the block, if you type Ctrl-d, two inputs will be
shown on the block. This is because in the Acromag block, we
specified two analog input channels.
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Analog Input
The properties of the analog input block
are:
47
This is the same as the fixed time step
ill i th i l ti If we will use in the simulation. If you
recall from Lecture 10, we needed a
fixed time step of 0.001 seconds for the
model to run correctly.
Plant Model
We are now done with the hardware setup
for the plant.
Since we copied this model fromthe xPC
48
Since we copied this model from the xPC
model developed in Lecture 10, the
simulation parameters should be set up
correctly.
However, just to make sure the settings
are correct, we will show the required
settings in the next two slides.
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Simulation Parameters
49
Simulation Parameters
50
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Plant Deployment
Build and download the plant model to the
Speedgoat xPC target.
Connect to the target
51
Connect to the target.
Remember to use the xPC Explorer
(xpcexplr) to specify the target IP address.
(Review lectures 3A and 10 if needed.)
Model Wiring
The last thing we need to do before running the
model is to identify the pin numbers for the
inputs and output
52
inputs and output.
Pin connections for the PMC730 are defined in
the users manual located on the website for
MBSD1.
We are using Analog Output 1.
We need to also find the ground reference for
this output.
The data sheet is shown on the next slide:
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53
Pin connection information is
contained in table 2.2.
Analog output channels listed
here.
54
We specified the first analog output
channel. Thus, our output is pin 12.
We can use any of these common
connections as our ground reference.
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Analog Input Pin Connection
55
We can use any of the common connections specified in
the previous slide as our ground reference.
We specified the two analog input channels.
Thus, our inputs are pins 34 and 33. Analog
In 0 is the first input and is the torque
request. Analog in 1 is the second input as
is the number of bulbs.
HIL Simulations
56
Part 3: Testing the Stand-Alone
Pl t Plant
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Plant Test
We are now ready to test our plant.
As a first step, we will use two DC voltage sources
to test the inputs of the plant.
57
We will connect a 0 to 6 V DC voltage source to
the Bulb Load input (Analog input 1 pin 33).
We will connect a 0 to 1 V DC voltage source to
the Torque Requested input signal (Analog input 0
pins 34).
We will observe the rpm signal (channel Analog
out 0 pin 12) with a scope.
Note that ground is pin 18 (and others if needed).
Plant Test
58
Speedgoat
xPC Target
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30
Plant Test
The Speedgoat Target is connected to the outside
world through a cable and a breakout connector:
59
Plant Test
The pin numbers on the breakout connector
match 1 to 1 with the pin numbers on the
Speedgoat target:
60
This connector This connector
allows easy
access to the
inputs through
screw terminals.
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31
61
Pin numbers correspond 1 to 1
with the pin numbers on the
Speedgoat Target. This is pin 34.
Plant Test
For the first test, we will just connect the two DC
power supplies directly to the breakout box with
jumper wires and alligator clips.
62
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32
Plant Test
Connect to the Speedgoat xPC target
R th d l
63
Run the model.
Bulb Load
As you change the DC input for the bulb
load, you should see the indicators change
as integer steps even though the DC
64
as integer steps even though the DC
source is an analog voltage and changes
continuously.
This is because we specified that these
indicators change in integer steps and are
limited to 0 to 6 volts.
Remember that we used a floor block in
our Simulink model for the bulb input.
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33
Bulb Load
65
Torque Request
As you change the torque request from 0
to 1, the indicators should follow and
agree with the input voltage displayed on
66
agree with the input voltage displayed on
the DC source.
The stepped nature of the waveform
shown in the next slide is because the DC
source I am using is set to change its
( voltage in 0.1 V steps.(It has nothing to do
with how we set up the LabVIEW
indicators.)
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67
This value is equal
to the DC input
voltage
This value is equal
to the DC input
voltage.
Plant Test
As we change the input torque request, we
see the motor RPM increase and
decrease in response to the changing
68
decrease in response to the changing
torque request and bulb load.
Verify that the RPM signal corresponds to
the analog output voltage of channel
Analog Output 0.
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69 This should agree with
the voltage you measure
from Analog Output
channel 0.
Plant rpm response to
changes in the bulb load and
torque request.
70
Analog Output charnel 0
should be 2 V here.
Analog Output charnel 0
should be 6 V here.
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Lecture 15A Demo 1
Plant Test
From previous simulations, you have a good
idea of how the plant should respond to changes
71
in the torque request and bulb load.
Test your plant for various inputs and verify that
it responds correctly.
If your plant passes all of the above tests, we
can now connect the plant to the controller and
test our system using a complete HIL setup.
Demo___________
HIL Simulations
72
Part 4: Interfacing the Controller to
th Pl t the Plant
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HIL Simulation
We are now ready to connect our controller to the plant,
but we require one more modification.
The torque output of our controller is a 20 kHz, 0 to 5 V
PWMsignal and this is the signal expected by our motor
73
PWM signal, and this is the signal expected by our motor
controller. (The duty cycle will go between 0 to 100%
corresponding to 0 to max torque request.
The Plant expects an analog voltage from 0 to 1 volt
corresponding to 0 to max torque request.
(In future model improvements, we might design our
plant to use a PWMinput rather than an analog voltage plant to use a PWM input rather than an analog voltage
input. However, this would require that the plant use a
timer, which is not a facility available on our Speedgoat
hardware.)
HIL Simulation
The difference between the two signals requires
that we create a PWM to analog voltage
converter circuit.
W ill i i l filt ith
74
We will use an inexpensive low-pass filter with a
voltage divider.
We will choose the pole of the filter to be much
less than 20 kHz so that it filters out the 20 kHz
PWM frequency, but high enough so that the
delay of the filter is small compared to the delay of the filter is small compared to the
dynamic response of the plant.
Keep in mind that this filter will not be part of the
system when we control the physical plant.
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HIL Simulation
Also not that this filter adds delay to the HIL
simulation that is not in the physical system nor
was it in our MIL and SIL simulations.
75
It is possible that we may see an instability in the
HIL simulation due to this added delay that is not
present in the physical realization nor our
previous simulations.
We will connect the MPC555x controller target to
the Speedgoat Plant target with the connections
shown on the next slide.
76
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77
This filter will not be part of our
final implementation when we
connect the controller to the
physical plant. It is for the HIL
simulation only to convert the
PWM signal an analog signal.
Divides signal by a
factor of 5. Has a
cutoff frequency of
about 200 Hz.
78
This filter is part of the
controller and used to controller and used to
remove noise on the
RPM signal. It is an
actual circuit that we
will build on the
controller board.
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Low-Pass Filter
Note that the filter we added to convert the PWM waveform
to an analog signal has a cutoff frequency of 200 Hz.
This frequency was chosen because it is a factor of 100
below the PWM frequency of 20 kHz.
79
q y
Since we have a first order filter that attenuates the signal at
20 dB per decade above the cutoff frequency, the 20 kHz
signal will be reduced by a factor of 100 (40 dB) by the filter.
This is good, but not great.
For a 5 V, 20 kHz PWM waveform input the filter, the filter
will have 50 mV of ripple at 20 kHz at the output will have 50 mV of ripple at 20 kHz at the output.
This ripple will cause a ripple on the torque output of the
motor.
Low-Pass Filter
The cutoff frequency of 200 Hz is close to
the bandwidth of the motor-generator
system
80
system.
This means that the delay added by the
filter will be significant and may make the
system unstable.
We will keep this in mind as we do our
testing.
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HIL Setup
My setup is shown on the next two slides.
Note that the circuits to interface between
the controller and plant been hardwired on
81
the controller and plant been hardwired on
to the prototyping area of the
MPC555xEWB to keep the implementation
clean.
You may want to use a prototyping board
to construct the circuits needed for this lab
so that you can change the circuits and
filter constants easily.
82
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42
83 I/O connector strip
for the plant target.
DC power supply
still being used for
light bulb load.
Interface circuits
between the plant and
controller. (Can be
easily disconnected
when not needed.)
Controller running
on a MPC555x
target.
84
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85
Interface circuits
between the plant and
controller. (Can be
easily disconnected
when not needed.)
86
Plant running on
Speedgoat xPC
target.
Interface / wiring
harness.
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44
HIL Simulations
87
Part 5: HIL Simulation
HIL Simulations
We are now ready to run our HIL
simulation.
Use the Simulink Plant model or the xPC
88
Use the Simulink Plant model or the xPC
Explorer to run your plant model on the
Speedgoat Target.
Download and run your controller model
on the MPC555x.
Monitor important signals on the MPC555x
using FreeMASTER or the RHIT ASCII
debug blocks.
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HIL Simulations
The next slide shows my plant
performance for the following controller
settings:
89
settings:
Integral Gain =10
Fixed Step size =1 ms
PWM frequency is set to 20 kHz
The number of bulbs is set to 2.
Step response in rpm speed request. Bulb
load held constant at 2 bulbs.
90
Torque spikes even though
the rpm is constant.
Rpm constant here
and well controlled.
p
Torque spikes even though
the rpm is constant.
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46
Constant speed request. Bulb load step
response.
91
Lecture 15A Demo 2
Demo of HIL simulation.
Integral Gain =10
92
Integral Gain =10
Speed Step Response
Bulb Step Response Bulb Step Response
Demo___________
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HIL Simulations
We notice that there is a lot of ringing in
the system response.
Fromprevious simulations we found that
93
From previous simulations, we found that
a proportional gain of 100 and an integral
gain of 10 worked well.
Change these gains, rebuild the controller,
download the controller model to the
MPC555x and then redo the previous
tests.
94
Looks clean.
Wild oscillation in the torque request.
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48
response.
95
Rpm held constant even though we
have a change in the bulb load.
Lecture 15A Demo 3
Integral Gain =10
96
Integral Gain =10
Speed Step Response
Demo___________
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49
HIL Simulations
The step response (RPM signal output)now looks
clean, but we see large oscillations in the torque
request signal.
Thi ld b f l
97
This could be for several reasons:
The filter we added for the PWM signal (which is not part of
the physical system) added extra delay.
The interface / wiring harness added noise and delay that
was not modeled earlier.
The PWM nature of the torque request signal is adding noise q q g g
to the system. (Because we only attenuate the 20 kHz signal
by a factor of 100.)
The gain is just too high, and caused the system to oscillate.
(Review earlier simulations and see if the selected gains
caused the system to be unstable.)
HIL Simulations
Note that we are not really sure that the wild
oscillations on the torque request signals are
actually there.
98
The signal is a PWM signal that is a square
wave that oscillates between 0 & 5 volts. We are
trying to use the average of that signal bu using
a low-pass filter.
The filter output contains 50 mV of 20 kHz ripple.
This ripple may be what is causing the
oscillations in the torque request.
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HIL Simulations
We will try different gains to improve the
performance of the system while still
havinga stable system
99
having a stable system.
Unfortunately, we cannot change the
controller gains in real-time, so we will
have to modify the gains, rebuild the
model, and then download it to the
C MPC555x every time we make a change.
Next, try a proportional gain of 10 and an
integral gain of 10.
100
No so clean anymore.
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51
response.
101
Lecture 15A Demo 4
Integral Gain =10
102
Integral Gain =10
Speed Step Response
Demo___________
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HIL Simulations
The step response of the rpm signal looks clean, but we still
see large spikes on the torque request signal.
If we compare the response of the HIL simulations to our
previous simulations for the specified gains and the simulations
103
p p g
give different results, then we have learned something:
Our interface may have introduced something that was not previously
modeled. (We need to solve this.)
The controller running on the actual target with a discrete time step is
causing the problem. (We need to solve this.)
The HIL simulations have shown us something new and we
d t k dj t t l th i b f need to make adjustments or resolve the issues before we
deploy our controller on the physical plant.
HIL Simulations
It is also possible that the plant running on a discrete
target is causing the problem.
This not an issue in the real system because the
104
plant will be replaced by the actual physical system.
We do need to test this possibility and make changes
if it is the cause. (By say, decreasing the time step of
the plant if possible.)
Since we ran the entire system in real-time on an
xPC target with the same time step as used here and
we did not see the oscillations, the plant time step is
probably not the issue.
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53
HIL Simulations
It is also possible that the filter we added
for the PWM signal is causing a problem.
This filter is not part of the physical system
105
This filter is not part of the physical system
or controller, and we should investigate to
see if this is causing the problem.
Noise:
Measure the output of the filter and make sure that
20 kH i l i t t th i l 20 kHz ripple is not present on the signal.
Delay:
Increase the PWM frequency (to say 200 kHz).
Increase the pole of the filter (to say 2 kHz).
HIL Simulations
The next slides show the system response for
proportional and integral gains of 10 (same as the
previous simulation).
The PWMfrequency was increased to 200 kHz and
106
The PWM frequency was increased to 200 kHz and
the filter cutoff frequency was changed to 2 kHz (a
much faster filter).
This filter will have the same 50 mV of ripple as the last filter
since the PWM frequency is 100 times higher than the
filters cutoff frequency.
Since the filters cutoff frequency has been increased to 2
kHz, (a factor of 10 higher) we have decreased the amount
of delay added by the filter by a factor of 10.
This experiment will test if the filter delay was the
cause of the problem.
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54
107
Lecture 15A Demo 5
Integral Gain =10
108
Integral Gain =10
Filter Cutoff frequency 2 kHz
Speed Step Response p p p
Bulb Step Response
Demo___________
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55
HIL Simulations
The wild oscillations are still present in the
system.
Next we will keep the PWMfrequency at
109
Next, we will keep the PWM frequency at
200 kHz and then change the filter cutoff
frequency back to 200 Hz.
This will increase the filter delay, but
reduce the 200 kHz ripple at the filter by a
factor of 10. (The 200 kHz PWM frequency
will now be attenuated by a factor of
1000.)
110
Yuck.
We still have wild
oscillations.
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56
HIL Simulations
Reducing the delay and reducing the ripple do not
seem to fix the problem.
We could test the hypothesis further that the
111
yp
oscillation is due to the filter and PWM ripple further by
eliminating the filter completely and using a plant
target that can measure the pulse-width directly.
Our hardware does not allow this test.
Next, we will see if reducing the gain fixes the , g g
problem. We will keep the filter cutoff frequency at 200
Hz and the PWM frequency at 200 kHz.
112
Stable
.
Oscillations.
Random spikes.
Oscillations.
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57
Lecture 15A Demo 6
Integral Gain =10
113
Integral Gain =10
Filter Cutoff frequency 200 Hz
Bulb Step Response
Demo___________
Deja Vu
I know that I remember this system
working better before.
As a last step we will change the filter
114
As a last step, we will change the filter
back to having a cutoff frequency of 2 kHz.
We will keep everything else the same.
(PWM at 200 kHz, proportional gain = 1,
integral gain = 10).
This will reduce the delay of the added
filter.
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115
Stable
Oscillations.
.
Random spikes mostly gone.
Oscillations.
response.
116
Torq e prett ell beha ed Torque pretty well behaved.
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59
Lecture 15A Demo 7
Integral Gain =10
117
Integral Gain =10
Filter Cutoff frequency 2 kHz
Bulb Step Response
Demo___________
HIL Simulations - Conclusions
The HIL simulations give us some new results.
First, it appears that we need a proportional gain of 1 to make
the system stable. This is much lower than the gain we
determined in earlier systems.
118
We are not sure if the added filter is the cause of the reduced
gain and bad system behavior.
We should really eliminate the added filter as it is not part of the
physical plant and may be causing issues in the simulation.
The poor performance of the system in the HIL simulations
suggest that we need for work in improving the systems suggest that we need for work in improving the systems
performance before we deploy the controller on the physical
plant. Torque spikes can damage equipment.
(In this course, we do not have time to investigate the cause of
the observed problems.)
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Controller Notes
Remember that we only increased the
PWM frequency to 200 kHz to try to
eliminate the effects of the filter and PWM
119
eliminate the effects of the filter and PWM
ripple.
When we deploy the controller on the
physical plant in the next lecture, we need
to use a frequency of 20 kHz as the plant
f hardware is designed for a PWM
frequency of 20 kHz.
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Systems Design
System Deployment
We have placed our control algorithm and controller hardware
through several levels of testing:
Model-in-the-Loop (MIL) where we tested the controller as a Simulink
model connectedto a Simulink model of the plant runningin the
2
model connected to a Simulink model of the plant running in the
Windows environment.
Real-Time simulations where we ran both the controller and plant in real
time on a single xPC target.
Software-in-the-Loop (SIL) where we compiled the controller into the
same code that would run on the hardware target an ran the model with
a fixed time step.
Hardware-in-the-Loop(HIL) simulations where we deployed the Hardware in the Loop (HIL) simulations where we deployed the
controller onto the target that will be used in the final implementation and
tested that controller by connecting it to another real-time-computer
running the plant model.
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System Deployment
By going through all of these levels of simulation, we
gain confidence that when we hook the controller to
the physical plant:
The systemwill behave as expected
3
The system will behave as expected.
The system will operate in a safe manner.
We will not break anything mechanically.
We will not let the smoke out of any electrical components.
The only reason the system will fail is that our models
of the plant are not accurate: of the plant are not accurate:
This is always possible and we should always expect that
there are things we can do to improve the plant model.
One thing we did not do in this course is make exhaustive
measurements of the plant components, and then update
the plant model to reflect the measurements.
System Deployment
With the HIL simulations, we deployed the control
method on the target hardware that will be used in the
final realization.
4
We identified all of the inputs and outputs for the plant
and controller.
We hooked the controller inputs and outputs to a real-
time computer running a model of the physical plant,
not the physical plant itself.
The last step is to take that same controller and
connect it to the physical plant.
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Connections
The controller has the following connections:
A PWM output for the motor torque. This is connected
directly to the PWM input of the plant and the motor is PWM
controlled. We do not need the low-pass filter that causes us
5
p
problems in the HIL simulation.
An analog input to measure the motor rpm. This is
connected to the rpm output of the plant. Note that a 2:1
voltage divider is included in the plant, but the filter capacitor
is not included. You will have to add the capacitor.
You will need to run one ground connection between the You will need to run one ground connection between the
plant and the controller
A wiring diagram is shown on the next slide.
Wiring Diagram
6
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Physical Connections
7 Controller!
I/O Connections for I/O Connections for
the plant.
Plant I/O Connections
8
All of these ground
connections are
connected on the
PC board. You only
need to connect to
one of them.
rpm output signal.
PWM input signal.
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5
Lecture 16 Demo 1
Once you have made all of the
connections:
Plug in your plant (Wear safety glasses!)
9
Demo___________
Plug in your plant. (Wear safety glasses!)
Verify that the motor speed follows the
desired speed specified by the POT on the
MPC555x demo board.
Display the desired speed and actual speed
using either the FreeMASTER tool or the using either the FreeMASTER tool or the
RHIT Debug Blocks.
Lecture 16 Demo 2
Show the step response of your system using
the FreeMASTER tool. The screen capture
belowshowthe step response with no load:
10
Demo___________
below show the step response with no load:
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Lecture 16 Demo 3
For constant speed request, show the system
response as the bulb load is increased from no
bulbs to 6 bulbs:
11
Demo___________
bulbs to 6 bulbs:
Lecture 16 Demo 4
For constant speed request, show the system response as the
bulb load is decreased from 6 bulbs to 2 bulbs, and then from 2
bulbs to no load: (I only have 4 fingers. If you have more
fingers you can go from6 bulbs to no bulbs in one step )
12
Demo___________
fingers, you can go from 6 bulbs to no bulbs in one step.)
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7
System Verification
Now that we have a working system, we
need to test the system and compare the
results to our simulations
13
results to our simulations.
If measured and simulated results do not
agree, we will need to determine the
discrepancy and update out plant models
if necessary.
We will start with steady state testing.
System Tests
We will be measuring the rpm on the next
few tests.
We can use a volt meter and measure the
14
We can use a volt meter and measure the
encoder output to determine the system
rpm.
Remember that the nameplate spec for
the encoder is 2.5 V per 1000 rpm.
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8
System Tests
Although these are steady state tests, you
will learn a great deal about the system
transient response as you turn on an off
15
transient response as you turn on an off
light bulbs.
You will be able to see and hear overshoot
in the system rpm as you turn on and off
light bulbs.
Bulb Load Test, rpm = 1200 rpm
Set Integral Gain = 0. With No load, set
the rpm to 1200. Observe how the rpm
changes as the load changes from0 bulbs
16
changes as the load changes from 0 bulbs
to 6 bulbs. (Measure the rpm for various
gains and loads.)
P_Gain No
Bulbs
1 Bulb 2 Bulbs 3 Bulbs 4 Bulbs 5 Bulbs 6 Bulbs
1 1200
10 1200
100 1200
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17
gains and loads.)
P_Gain No
Bulbs
1 1800
10 1800
100 1800
18
gains and loads.)
P_Gain No
Bulbs
1 2400
10 2400
100 2400
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10
Integral Gain Tests
For the next tests, we will keep the rpm
constant at the 1800 rpm.
We will then specify a fixed proportional
19
We will then specify a fixed proportional
gain, and observe the system response for
varying values of integral gain.
Note that these are steady state
responses.
Integral Gain Test, rpm = 1800
Set Proportional Gain =1. With No load, set the
rpm to 1800. Observe how the rpm changes as
the load changes from 0 bulbs to 6 bulbs.
20
(Measure the steady state rpm for various
integral gains and loads.)
I_Gain No
Bulbs
1
10
100
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11
Set Proportional Gain =10. With No load, set
the rpm to 1800. Observe how the rpm changes
as the load changes from 0 bulbs to 6 bulbs.
21
I_Gain No
Bulbs
1
10
100
22
I_Gain No
Bulbs
1
10
100
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12
Fixed Step Size Test
For the next tests, we will keep the rpm
constant at the 1800 rpm.
Choose a values for the integral and
23
Choose a values for the integral and
proportional gains that give the system,
the best response.
We will keep these values constant in the
next set of tests and see the effect of
changing the fixed step size.
Controller Step Size Test
Set Proportional Gain =___. Set Integral Gain =
___. With No load, set the rpm to 1800. Observe
how the rpm changes as the load changes from
0 bulbs to 6 bulbs (Measure the steady state
24
0 bulbs to 6 bulbs. (Measure the steady state
rpm for various values of the system step size.)
Step
Size
(sec)
No
Bulbs
0 1 0.1
0.01
0.001
0.00001
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13
SIL Tests
We would like to compare the measured
results to the simulated results.
Repeat all of the above tests using the
25
Repeat all of the above tests using the
model from Lecture 10A Model 3.
(SIL) Bulb Load Test, rpm = 1200 rpm
26
gains and loads.)
P_Gain No
Bulbs
1 1200
10 1200
100 1200
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14
27
gains and loads.)
P_Gain No
Bulbs
1 1800
10 1800
100 1800
28
gains and loads.)
P_Gain No
Bulbs
1 2400
10 2400
100 2400
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15
(SIL)Integral Gain Test, rpm = 1800
Set Proportional Gain =1. With No load, set the
rpm to 1800. Observe how the rpm changes as
the load changes from 0 bulbs to 6 bulbs.
29
I_Gain No
Bulbs
1
10
100
(SIL) Integral Gain Test, rpm = 1800
30
I_Gain No
Bulbs
1
10
100
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16
(SIL) Integral Gain Test, rpm = 1800
31
I_Gain No
Bulbs
1
10
100
(SIL) Controller Step Size Test
Set Proportional Gain =___. Set Integral Gain =___.
With No load, set the rpm to 1800. Observe how the rpm
changes as the load changes from 0 bulbs to 6 bulbs.
(Measure the steady state rpm for various values of the
32
( y p
system step size. Use the same values of gain as we did
for the physical system in slide 25.)
Spec
Size
(sec)
No
Bulbs
0 1 0.1
0.01
0.001
0.00001
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17
Comparison of SIL and
Measured Results
U th t bl b l t th
33
Use the tables below to compare the
measured results to the simulated results.
No new measurements are needed.
J ust place both measured and simulated
results in the same table results in the same table.
Turn in the tables below.
Lecture 16 Comparison 1200 rpm
Compare SIL results to measured (act) results.
Set Integral Gain =0. With No load, set the rpm
to 1200. Observe how the rpm changes as the
load changes from0 b lbs to 6 b lbs
34
load changes from 0 bulbs to 6 bulbs.
P_Gain No
Bulbs
SIL Act SIL Act SIL Act SIL Act SIL Act SIL Act SIL Act
1
1200 1200
10
1200 1200
100
1200 1200
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18
35
p g
P_Gain No
Bulbs
1
1800 1800
10
1800 1800
100
1800 1800
36
p g
P_Gain No
Bulbs
1
2400 2400
10
2400 2400
100
2400 2400
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19
Set Proportional Gain =1. With No load, set the rpm to
1800. Observe how the rpm changes as the load
changes from 0 bulbs to 6 bulbs.
37
I_Gain No
Bulbs
1800 1800
1
1800 1800
10
1800 1800
100
1800 1800
38
p p g
I_Gain No
Bulbs
1
1800 1800
10
1800 1800
100
1800 1800
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20
39
p p g
I_Gain No
Bulbs
1
1800 1800
10
1800 1800
100
1800 1800
Lecture 16 Comparison Step Size Test
Set Proportional Gain =___ (optimum value). Set
integral Gain =___ (optimum value). With No load, set
the rpmto 1800. Observe howthe rpmchanges as the
40
the rpm to 1800. Observe how the rpm changes as the
Spec
Size
(sec)
No
Bulbs
0 1 0.1
0.01
0.001
0.00001
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21
Questions?
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1
Systems Design
Improved Bulb Model
Intro to Design of Experiments
Model Problems - Motor
When we first designed our plant, we
understood that the models we created
were very idealized:
2
were very idealized:
The motor model uses a fictitious a torque
curve.
The motor is 100% efficient.
The is no current limit on the motor. (For us,
this would be a limit on the DC power supply ) this would be a limit on the DC power supply.)
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2
Model Problems - Generator
The generator has the same non-idealities as
the motor, plus a few more that we need to
consider:
3
For our load (generator combined with the light
bulbs), we assumed that the load torque was a
linear function of the rpm.
In reality, a bulb looks like a temperature
dependent resistance. The temperature
depends on the bulb voltage, which in turn
depends on the generator speed.
Generator Model
The experience we have gained by using
our motor-generator system has shown us
the following about the generator:
4
the following about the generator:
The output voltage is a function of the rpm.
The output voltage drops as we draw more
current from the generator.
We would like to create a model that
i l d b th f th ff t includes both of these effects.
(After we do the bulb model.)
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3
Bulb Model
The bulb looks like a temperature
dependent resistor (with a large positive
temperature coefficient)
5
temperature coefficient).
As the temperature of the resistor goes up, its
resistance goes up.(Or so we think.)
The power drawn by the bulb is the voltage
squared divided by the bulb resistance.
The resistance is a function of the bulb power The resistance is a function of the bulb power,
since more bulb power heats up the bulb.
We will create a model that includes all of
these effects.
J ust as a reminder, the old generator and bulb load is
shown below:
Old Generator Load Model
6
In this model, the bulb resistance is constant and we
calculate the generator torque by dividing the generator
voltage by the bulb resistance.
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4
We will use the following model for the generator that includes all of
the bulb effects:
New Generator Load Model
7
The generator will produce an output voltage based on the
t d d l d t generator speed and load current.
The bulb will draw a current that is dependent on the voltage across
it (thus including temperature effects).
The generator current is the number of bulbs times the current
through one bulb.
New Plant Model
We can measure the light bulb I-V characteristic
if we have a variable voltage power supply.
We will use the Model-Based Calibration toolbox
8
to:
Design a set of experiments.
Measure the bulb and generator characteristics with
the specified set of experiments.
Create a model for the measured data and export it to
Sim link Simulink.
We could also use the measured data to:
Create a look up table.
Implement a Simulink function.
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5
Blub Model
We will first develop the model of the bulb.
The input to the model is the bulb voltage.
The output of the mode is the bulb current
9
The output of the mode is the bulb current.
We will use the Model-Based Calibration toolbox
to set up a set of experiments for us to measure
the bulb characteristic.
To start the Model-Based Calibration, type
mbcmodel at the Matlab command prompt: mbcmodel at the Matlab command prompt:
Model-Based Calibration Toolbox
All of the files we create will be saved in
the current working directory.
Select File and then New Test Plan from
10
Select File and then New Test Plan from
the Model Browser menus:
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6
Model-Based Calibration Toolbox
11
Select a One-Stage model and click the
OK button.
Next, click on One-Stage to
select it.
Model-Based Calibration
12
One-Stage selected.
Double-click here.
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7
13
This box allows us to specify the inputs to
our model and the ranges for those inputs.
We only have a single input for our model.
Fill in the dialog box as shown next:
14
Symbol: Voltage
Min: 0
Max: 15
Transform: None
We specified a range of 0 to 15 volts.
Note that the Signal field is a 3-character
abbreviation that you can use for the signal. abbreviation that you can use for the signal.
Click the OK button when done. Note that the
signal will be displayed on the block diagram.
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8
15
Inputs listed here.
Next, double-click here.
16
This dialog box allows us to set up the type of
curve we think the will best fit our model. curve we think the will best fit our model.
A typical resistor has a straight line current-
voltage (I-V) characteristic (a first order
polynomial a straight line).
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9
We know that the resistance of the bulb will
change with temperature.
Thus, the bulb I-V characteristic will deviate from
17
,
a straight line. (How much we dont know
weve never done this before.)
We will guess that it will deviate slightly from a
straight line so a 2
nd
or 3
rd
order polynomial
should be a good fit.
We can change the model later if the model we
pick does not fit the data very well.
We will choose a 3
rd
order polynomial model:
18
Polynomial spline
selected.
Order set to 3.
Minimize PRESS
selected.
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10
19
Next, right-click here and
select Design
Experiment.
20
Next, select File and then New Design from the
Design Editor menus.
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11
21
Select Design and then Optimal from the
Design Editor menus:
22
For a 3
rd
order polynomial fit, we For a 3 order polynomial fit, we
need a minimum of 4 points.
Since we are not really sure a 3
rd
order polynomial will work, we will
specify that we want a 16 additional
points.
More points will take more time to More points will take more time to
measure (and thus be more
expensive for your company), but it
will also help reduce the effects of
measurement error on our model.
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12
23
After clicking the OK
button, the tool will
calculate the voltage
points for the model.
16 additional
points selected.
When complete, the selected points
will be displayed. (Shown on next
slide.)
24
20 t 20 measurement
points.
Click on here twice and
change the name to
20 measurement
points.
change the name to
Light Bulb Model.
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13
25
Name changed.
The points for our experiment have been
created.
We will export themto an Excel
26
We will export them to an Excel
spreadsheet so that we can easily collect
data.
Select File and then Export Design from
the Design Editor menus:
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14
Select a comma separated values format:
27
f O
CSV format selected.
After clicking the OK button, you can open
the file with Excel.
We are now ready to
run our experiment.
For the specified
28
p
voltages, we will
measure the bulb
current.
Note that we do not
have to use the exact
same voltages, but
we will try to come
close.
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15
Measured Data
The data can be saved
in a standard Excel
format file
29
format file.
Close the Design Editor by selecting File
and then Close from the menus:
30
Switch to the Model Browser window.
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16
Before we continue, select File and then
Save Project from the Model Browser
Windowto save our design
31
Window to save our design.
Save the file as Light_Bulb_Model.mat.
Select TestPlan and then New Data from
the menus:
32
Click here to open a
data file.
S l t th E l fil ith Select the Excel file with
the collected data.
Click the Next button.
Click the Finish button.
Columns in our
measured data.
721 of 783
17
33
Select this option
to match
measured data to
our model created
earlier.
Voltage signal in
our model
matched to
voltage signal in
the measured
data.
34
Responses are the
model outputs.
(1) Select Current.
(2) Click the Add button.
Current added as
an output.
Click the Finish button.
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18
Data Editor
The Data Editor opens and displays the data.
35
This column contains NaN
values because the
column below Name
contained the text Units
and no data.
Data Editor
Select View, Current View, and then 2D Data
Plot from the menus:
36
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19
Data Editor
To view the data, make the selections below
37
Select all tests.
Select current for
the y-axis
Select voltage for
the x-axis
Data Editor
We see that the current-voltage characteristic is
indeed not a straight line.
You can experiment with other views if you want
38
p y
to view the data differently. (For a one-
dimensional plot, there is not that much else to
look at.)
Select File and then Close to close the Data
Editor.
When you return to the Model Browser, you will
notice that there is now a response model for the
Current.
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20
Model Browser
39
Select this response. p
We will zoom in to view the fit a little better.
Measured data and the 3
rd
order
polynomial model.
Model Browser
40
This point is an outlier
the model does not go
through this point!
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21
Model Browser
Suppose that we want to try a different fit to our
data.
41
Select One-Stage here.
Right-click here and select
New Response Model
New Response Model
42
Click here to create a new model for
the measured Current output.
Our first model was a cubic
polynomial. Click here to select
a different type of model.
Select a 2
nd
order
polynomial and click
the OK button twice.
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22
New Response Model
43
New model listed here.
Click on the text to
change the names of the
models.
New Response Model
44
Models renamed here.
You can display the plots for each fit by
clicking on the name of the model.
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23
3
rd
Order Response Model
45
3
rd
Order
model
selected.
2
nd
Order Response Model
46
2
nd
Order
model
selected.
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24
The Two Models are Slightly Different
47
2
nd
Order Fit.
Note that neither model matches too well at zero volts.
3
rd
Order Fit.
Models
You can experiment with more models.
An 8
th
order polynomial comes pretty close
to modeling the bulb at lowvoltages
48
to modeling the bulb at low voltages.
An 8
th
order poly is much more expensive
to calculate than a 3
rd
order polynomial
8
th
Order Fit.
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25
Model Export
Once we are happy with the model, we
can export it to Simulink.
We have several different models so we
49
We have several different models, so we
need to select the model we want to
export.
3
rd
order
model
selected.
Select File and then Export Models from
the Model Browser menus.
Model Exporter
Click the OK
50
Select Simulink here.
Note the file name.
Click the OK
button.
Simulink will start
and display the
model.
Resize the model
to see the ports.
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26
Export Model
51
We can now copy this block and use it in
our motor-generator model.
Export Model
You should probably add a saturation
block to limit the input voltage range of the
model
52
model.
The accuracy of the model outside the
range of measured data will be
questionable.
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27
Model Evaluation
Next, we will look at a tool for evaluating
our model.
Select one of your models:
53
y
Select Model, Evaluate, and then Fit
Model selected.
, ,
Data from the Model Browser menus:
Model Evaluation
54
This view gives us a good view of how
well the model fits the measured data.
From this view, we see that it is not that
good of a fit at lower voltages.
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28
Model Evaluation
Select View and then Response Surface.
55
Plot selected Plot selected.
Model Evaluation
56
Table selected.
Points from
model fit.
V lt
We can copy this data
and paste it into a 1-D
Simulink look up table.
Voltage
points from
model.
This would be another
method to implement the
model.
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29
Simulink Look-Up Table
To create a look up table in Simulink:
57
Highlight and copy this.
Paste it into the input values
field of a 1-D look-up table
To create a look up table in Simulink:
58
Highlight and copy this.
Paste it into the Table data field
of a 1-D look-up table.
Do not forget to add brackets
around the data.
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30
Select a Lookup method of Interpolation-Use
End Values so that we only use the table for the
values that we actually measured.
59
Interpolation-Use End Values
method selected.
Simulink Look-up Table
When you click the OK button on the
Look-Up table dialog box, the curve should
be shown on the block:
60
be shown on the block:
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31
New Bulb Model
You can use either the look-up table
model or one of the models that we
exportedfromthe MCBModel tool
61
exported from the MCBModel tool.
One note is that with the models
generated by MCBModel, none of the
ones we created had zero current when
the bulb voltage was zero.
This is unphysical and will cause the
generator to apply a negative torque when
the generator is not spinning.
New Bulb Model
This negative torque will tend to cause the
motor-generator system to spin backwards
whenthe motor-generator systemshould be
62
when the motor generator system should be
at rest and no motor torque is applied.
We probably will not notice anything because
this torque might be small compared to the
rotational friction we added.
To avoid this problem, we will use the look-
up table for our model.
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32
New Generator Model
63
Lookup table added here. Input is
voltage, the output is current.
New Generator Model
64
This limiter has limits of 0 and 15to This limiter has limits of 0 and 15 to
limit the input voltage to the table. This
limit is redundant since we selected
the Interpolation-Use End Values
method for the lookup table.
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33
Lecture 17
Generator Model With Bulb
Demo your working model with the New
Bulb Load
65
Bulb Load
Demo___________
Lecture 17
Start Lecture 17 MBC Project
66
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1
Systems Design
MathWorks SystemTest
As we develop our model, we will make periodic
changes.
Every time we make a change, we need to verify
2
y g , y
that our system passes a rigorous set of tests.
Ideally, we would have a predefined set of tests,
and run all of the tests each time we make a
change.
We would then analyze the results of the tests y
an determine if our system meets the required
specifications.
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2
Ideally, we would set up a battery of tests
at several levels in the Model-Based-
SystemDesign process:
3
System Design process:
Simulations (SIL)
Real-Time Simulations (xPC)
Hardware in the Loop Simulations
We want to create a set of tests that
thoroughly test the system, and then run
all of the tests automatically.
Proving that a set of tests completely
covers a design is a challenge and will not
be discussedhere
4
be discussed here.
Instead, we will demonstrate a tool that:
Allows us to create a set of tests
Run the tests automatically
Perform data analysis on the results
Evaluate the results against performance
specifications.
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3
We will use a MathWorks tool called
SystemTest and use it to verify the step
response of our system
5
response of our system.
We will start with model Lecture17_Model3.
Save the model as Lecture18_Model1.
We will need to make a few changes to the
model. model.
Changes to the top level are shown next:
Motor-Generator
Model
6
Slider and constant
replaced by step input.
Slider removed.
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4
Model Changes
We are going to need to collect some data
from our model when it runs.
We will do this using the To Workspace
7
We will do this using the To Workspace
part located in the Simulink / Sinks
library.
This part writes data from the Simulink
simulation to a MATLAB variable in the
workspace.
Place one in the controller subsystem and
connect as shown:
8
To Workspace part
added.
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5
Change the parameters of the To
Workspace block as shown:
9
Name of the MATLAB
variable where the data is
saved.
Do not limit the size of the
array Scaled_RPM_Signal
where the data is saved.
A decimation value of 3 would take
every 3
rd
point. A decimation of 1 takes
every point every point.
Sample_Time was defined in the init file
as 0.001 seconds. Dave a data point
every 0.001 seconds.
Store data as an array.
10
After clicking the OK button, the
name of the MATLAB variable
where the data is stored is
displayed here.
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6
11
Add another To Workspace here
with the same settings except a
different variable name.
12
Add another To Workspace here
with the same settings except a
diff t i bl
This block is called Clock and is in
the Simulink / Sources library.
This block outputs the current
simulation time.
different variable name.
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7
Model Changes
Next, change the simulation ending time to
1 second:
13
Changed to 1 Changed to 1.
Init File
We do not need to make any changes to
the Init_File for our model.
The SystemTest tool will run our Simulink
14
The SystemTest tool will run our Simulink
model a large number of times.
The contents of the Init_File never change
during the test and we never need to
change the values of the variables defined
in the Init_File during the series of tests.
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8
Init File
We only need to run the init file once, then
we can run our model through the series
of tests
15
of tests.
Instead of using a Callback to have
Simulink run the init file, we will use the
Pre Test function in SystemTest to
initialize the needed parameters once.
We will change the CallBack function in
Simulink so that it does not ruin our
Init_File.
Init_File
Right-click somewhere on the motor-
generator Simulink model and select
Model Properties fromthe menu:
16
Model Properties from the menu:
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9
Init_File
Select the Callbacks tab and select the
InitFcn selection
17
InitFcn selected.
Callbacks tab
selected.
Delete this, click the
OK button and Save OK button, and Save
your mdoel.
Post Processing File
The test we are going to run is to observe
the step response of our motor-generator
systemand calculate the rise time
18
system and calculate the rise time.
We will then determine if the system
passes the step response specification.
We need to create a MATLAB script that
calculates the rise time from the measured
data:
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10
Rise Time MATLAB Script
%Find the rise time.
%Calculate the Rise Time
19
% Define the rise time as the amount of time it takes the
% output got go from 10% of the final value to 90%
% of the final value.
Ten_Pct_Value =0.1*Speed_Step;
Ninety_Pct_Value =0.9*Speed_Step;
Ten_Pct_Time =0;
Ninety_Pct_Time =0;
%Find the time of the 10% Point.
for i =1: (length(time)-1)
if (Scaled_RPM_Signal (i) <=Ten_Pct_Value) &&...
(Scaled RPM Signal (i+1) >=Ten Pct Value)
20
(Scaled_RPM_Signal (i 1) Ten_Pct_Value)
Ten_Pct_Time=time(i);
end
%Find the time of the 90% Point.
if (Scaled_RPM_Signal (i) <=Ninety_Pct_Value) &&...
(Scaled_RPM_Signal (i+1) >=Ninety_Pct_Value)
Ninety_Pct_Time=time(i);
end
end
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11
% Calculate the rise time as the difference between the
% 10% and 90% points. If a rise time is not found, set the
% Rise_Time to infinity.
21
if (Ten_Pct_Time >0) && (Ninety_Pct_Time >0)
Rise_Time =Ninety_Pct_Time-Ten_Pct_Time;
else
Rise_Time =inf;
end
SystemTest
We will now use MathWorks System test
to run the model at various speeds and
measure the step response for different
22
measure the step response for different
loads.
Type systemtest at the MATLAB
command prompt to run the tool.
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12
SystemTest
23
SystemTest
Select File and then Save As from the
System Test menus
Change the dircetory to your MATLAB
24
Change the dircetory to your MATLAB
working directory
Save the file as Motor_Generator.test
The tree will change as shown:
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13
25
Test file named
here.
Pre Test
The pretest section allows us to initialize
variables that we could use in our test.
This is done once even though multiple
26
This is done once even though multiple
tests will be run.
We would like to use the Pre Test section
to initialize the workspace constants that
we use in our model.
Select the Pre Test leaf of the tree:
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14
Pre Test
27
Pre Test selected.
Pre Test
28
Next, click here to add a
New Test Element to the
pretest Section.
Pre Test selected.
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15
Pre Test
29
Select MATLAB to create a
MATLAB script that will
execute once before all of
the tests are run.
Pre Test
30
New MATLAB script.
D l h Delete the comments
shown here, copy the
contents of file Init_File.m,
and paste them in this
window.
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16
31
Main Test
The remainder of our elements will go in
the Main Test Section.
Select the section as shown:
32
Select the section as shown:
Main Test selected.
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17
Test Vectors
Test vectors are MATLAB row vectors
whose values are used as inputs to our
tests
33
tests.
If we have a test vector with the values [1,
3, 5,8,10], a test will be run for the value 1,
the value 5, the value 8, and the value 10.
We can assign the values of the test
vectors to parts of our Simulink model.
Test Vectors
For each magnitude of step, we would like
to measure the rise time for different bulb
loads
34
loads.
We will set the bulb load test vector to [0,
1, 2, 3, 4, 5,6].
We will call this test vector ST_Bulb_Load.
We will have a total of 35 tests. We will have a total of 35 tests.
We now need to define these test vectors.
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18
35
Main Test selected.
Test Vectors Test Vectors
selected.
Click the New button.
Test Vectors
36
Test Vectors name.
Test Vectors values.
After clicking the OK After clicking the OK
button, the values will be
displayed in the
SystemTest window
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19
37
Values will be displayed in Values will be displayed in
the SystemTest window.
Repeat the procedure to
add a test vector called
ST_Bulb_Load with the
values [0, 1, 2, 3, 4, 5, 6].
38
Notice we have 35 tests defined:
Step 0 to 0.1: Bulb loads of 0, 1, 2, 3, 4, 5, 6.
Step 0 to 0.2: Bulb loads of 0, 1, 2, 3, 4, 5, 6. p
New test vector defined.
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20
Main Test
Next we will define the Main Test Section.
In this section, for each iteration in the test
vectors we want to:
39
vectors, we want to:
Run our Simulink model
Calculate the Rise Time
Plot the desired and measured rpm response.
Determine if the response meets a
performance criteria.
Init_File
Before adding your Simulink Model to the
test plan, manually run the Init_File to
define workspace parameters for the
40
define workspace parameters for the
model.
The Pre_Test function will not run until we
start the test, so some model parameters
are not known and will generate an error
message.
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21
41
Main Test selected.
Select Simulink.
42
Click here and browse for
model Lecture18_Model1.
Simulink will start and
open the model.
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22
43
Model loaded.
Next, we need to map our
test vectors to Simulink test vectors to Simulink
blocks. Click the New
Mapping button.
44
Select Select Block to Add to associate
a test vector with a Simulink block Your a test vector with a Simulink block. Your
Simulink model will pop up and you can
click on a block.
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23
Simulink Model
45
Select this block.
When you switch back to SystemTest,
the block will be listed.
46
Step Block
listed here.
The Step block has several
parameters for which we can
specify a value. Click here to
see the list. see the list.
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24
47
The step occurs at time Step time. We set this time to 0.1 seconds
in the block. At time zero, the step has a value specified by parameter
Initial value. We set this value to 0 in the block. At the step time, the
bl k t t f th i iti l l t th Fi l l d h ld block output goes from the initial value to the Final value, and holds
at the final value for the remainder of the simulation.
We want the value Final Value to be set by the test vector so select
it.
48
Next, click here to associate
the Simulink block parameter
with a test vector Choose test with a test vector. Choose test
vector ST_Desired_Speed.
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25
49
Step Block parameter takes on
the values of test vector
ST Desired Speed ST_Desired_Speed.
50
Repeat the procedure to associate constant
block Number of Bulbs to test vector
ST_Bulb_Load.
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26
Simulink Output
For our reports, we would like to include a
plot of the desired and measured step
response
51
response.
To do this, we need to get the data from
the MATLAB workspace to System Test.
In our Simulink model, we added three To
Workspace blocks so that we would save
the desired data in the workspace.
We now need to take that data and save it
as a test variable.
52
Select New Mapping and
the To Workspace Block.
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27
53
Select Block To Workspace.
In my model, this was signal
Scaled RPM Signal Scaled_RPM_Signal.
54
Since we havent defines any
test variables, select New
Test Variable and then name Test Variable and then name
it ST_Scaled_RPM_Signal.
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28
55
Test Variables tab selected.
New variable listed here.
New variable listed here.
Simulink Output
Repeat the procedure for the other Two
Workspace Blocks:
To Workspace ST Desired RPM
56
To Workspace ST_Desired_RPM
To Workspace2 ST_time
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29
57
Plots
After each Simulink simulation, we want to
plot the desired and measured response.
First, make sure that Simulink is selected in
58
the tree:
Simulink
selected.
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30
59
Select New Test Element
and then Vector Plot. Fill in
the Vector plot as shown
next.
60
ST_time specified for
the XAxis.
ST_Desired_RPMplotted ST_Scaled_RPM_Signal
in red on the Y Axis.
_ _ _ g
plotted in blue on the Y
Axis.
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31
Rise Time
Next, we have to evaluate the data in the
workspace and calculate the Rise Time.
To do this we need to add a MATLAB
61
To do this we need to add a MATLAB
script to the test plan.
Make sure that the Vector Plot is selected.
Vector Plot
Selected.
62
Select New Test Element
and then Matlab. In the
MATLAB window, past in the
rise time script we created rise time script we created
earlier.
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32
63
Script to calculate
the Rise Time.
64
Change these two lines
because the magnitude of
our step input is specified
by the test vector
ST Desired Speed. ST_Desired_Speed.
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33
Rise Time
We are going to use the value of
Rise_Time calculated in the script to
evaluate against a constraint in
65
evaluate against a constraint in
System_Test.
We will need to define Rise_Time as a
Test Variable.
66
(1) Test Variables
selected.
(2) Click the new (2) Click the new
button.
Name the variable Rise_Time. An
initial value is not necessary. Click
the OK button.
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34
Test Variables
Repeat the process to add a variable
called Rise_Time_limit.
Give this variable an Initial Value of 0.4.
67
This variable will be used as a constraint
where we will check to see that the
measured rise time is less than or equal to
this limit.
68
Rise_Time added with no
initial value.
Rise_Time_limit added
with an initial value of 0.4.
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35
Constraints
Next we need to add our constraints to
verify the performance of our system.
We can add several constraints and then
69
We can add several constraints and then
measure what proportion of our tests pass
the constraints.
For this example, we will only have a
single constraint.
Constraints
We would like to check the constraint after
we run the MATLAB script that calculates
the rise time
70
the rise time.
Select MATLAB from the tree:
MATLAB leaf selected.
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36
71
Select Limit Check from
the menu.
72
General Check tab
selected.
Click the New button to
create a new limit check
(Constraint).
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37
73
Select Rise_Time
here.
Select <=
here.
Select
Rise_Time_limit
here.
Leave these at their
default.
74
To pass a test, the
simulation must pass all of
the conditions we created.
If a test fails, we go on to
the next test because we
want to see how many tests
pass.
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38
After Test Runs
We are now finished setting up our test.
We would like to create a report that we
canviewafter all 35 tests run
75
can view after all 35 tests run.
Select the Motor_Generator leaf.
Motor_Generator leaf
selected. selected.
76
This option as we are not
saving any of the data saving any of the data
from the run.
Select this option to create
an HTML report.
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39
Running the Test
Select Run from the SystemTest menus or
click the Play button.
A plot should display after each test
77
A plot should display after each test
showing the desired and measured step
response.
78
Plot from iteration 2.
Progress of all tests being
run.
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40
79
M lt h th t l Cli k h t i th My results show that only
12 of the 35 tests passed
the 0.4 second rise time
condition.
Click here to view the
results in a web browser.
The next three screens
show part of my report.
80
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41
81
Test 1 passed with a rise time
of 0.048 seconds. However, ,
this test had a load of 0 bulbs.
82
Test 4 failed with a rise time of
0.8894 seconds. The desired
step was 0.1 and we had a 3
bulb load.
Big delta due to
proportional gain.
Slow rise due to
small integral gain.
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42
New Test
The controller model in the previous test
had a proportional gain of 5 and an
integral gain of 10
83
integral gain of 10.
Lets try increasing the integral gain to
reduce the rise time.
Run the test again and measure the
results.
84
M lt h th t l Cli k h t i th My results show that only
34 of the 35 tests passed
the 0.4 second rise time
condition.
Click here to view the
results in a web browser.
The next two screens
show part of my report.
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43
85
Test 7 passed with a rise time
of 0.135 seconds. The desired
step was 0 1 and we had a 6 step was 0.1 and we had a 6
bulb load.
86
The increased integral
gain does cause
overshoot.
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44
Lecture 18 Demo 1
We notice that we now have overshoot.
Add a second test that verifies that the
overshoot is less than 5%
87
overshoot is less than 5%.
You need to check to see how many tests
pass both the rise time specification and
the overshoot specification.
Demo___________
Verify summary of results showing that 34
of 35 runs passed the specification.
88
Demo___________
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45
Lecture 18 Project 3
Start Project 3.
89
783 of 783

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1

C/Watt (Natural Convection)

C/Watt (50 CFM Forced Air Convection)

C/Watt (100 CFM Forced Air Convection)

C/Watt (200 CFM Forced Air Convection)

The xPC Target library is down at the

Floating Point Numbers

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