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    Xpctarget

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    navidelec
    This document provides instructions for setting up and using an xPC target system for real-time control applications. It describes connecting the xPC target computer and student laptops to control hardware. It then explains how to use Simulink to design a controller, compile it to run on the xPC target, execute and monitor the real-time application, tune parameters, and log data.

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    © All Rights Reserved
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    Xpctarget

    Uploaded by

    navidelec
    67 views22 pages
    This document provides instructions for setting up and using an xPC target system for real-time control applications. It describes connecting the xPC target computer and student laptops to control hardware. It then explains how to use Simulink to design a controller, compile it to run on the xPC target, execute and monitor the real-time application, tune parameters, and log data.

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    xpctarget

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    This document provides instructions for setting up and using an xPC target system for real-time control applications. It describes connecting the xPC target computer and student laptops to control hardware. It then explains how to use Simulink to design a controller, compile it to run on the xPC target, execute and monitor the real-time application, tune parameters, and log data.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    67 views22 pages

    Xpctarget

    Uploaded by

    navidelec
    This document provides instructions for setting up and using an xPC target system for real-time control applications. It describes connecting the xPC target computer and student laptops to control hardware. It then explains how to use Simulink to design a controller, compile it to run on the xPC target, execute and monitor the real-time application, tune parameters, and log data.

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    You are on page 1of 22

    XPC Target Tutorial

    Control System Design


    Feb. 3, 2004
    For more detailed information, see the
    xPC target manual at:
    www.mathworks.com
    Control Hardware
    xPC target
    xPC target
    xPC target
    IP: 128.113.224.???
    IP: 128.113.224.104
    Student laptops
    IP: 128.113.224.???
    Connect to your experiment
    through the network.
    Software Architecture for Host
    Computer (laptop)
    MATLAB command line or script
    1. Generate real time code and download to computer
    2. Execute code and interact with real time process
    Simulink
    MATLAB GUI
    xpcrctool.m
    Simulink
    Visual C++
    Setting up xPC Target
    This GUI configures your
    computer to communicate
    with the xPC target computer.
    1. At the MATLAB prompt
    type:
    xpcsetup <enter>
    2. Enter appropriate data
    3. Click on Update
    4. Click on Close
    See zoom on next page.
    Xpcsetup Zoom
    Path to VC++ on
    your computer
    IP address of target
    computer
    Change all settings to match the values shown below, except for the CompilerPath
    and TcpIpTargetAddress. The compiler path should contain the path to visual C++
    on your computer. Use the TcpIpTargetAddress assigned to the box controlling
    your hardware.
    Test your xpc setup
    Test your setup with a MATLAB xpc target test suite.
    At the MATLAB prompt, enter:
    xpctest(noreboot) <enter>
    It is important to include the noreboot option or the
    computer will lock up.
    All is good if there are no errors reported.
    Create Simulink Model
    Encoder
    D/A converter
    Controller
    Data logging
    Encoder Details
    Channel number: there are four
    encoder channels available.
    Set direction of encoder to match
    your coordinate system.
    position in radians = 2*pi*Turns + Angle
    Number of encoder counts
    xPC Target\Incremental Encoder\Computer Boards\PCI-QUAD04
    Use quadrature
    Find Simulink block:
    Controller Details
    Proportional Gain
    Derivative Gain
    Finite Difference
    Velocity Estimate
    D/A Details
    xPC Target\D/A\Computer Boards\PCIM-DAS1602 16
    Find Simulink block:
    Channel number: there are 2 D/A
    channels available. Channels 1 and 2
    are connected to motor amplifiers.
    Desired
    voltage signal
    feeds in here
    Set the range: 10 to +10 volts
    Reset to initial value after termination
    Initial value of D/A
    Configure for Compile (1-runtime)
    On your Simulink window select:
    SimulationSimulation ParametersSolver
    Program will halt
    after this time
    Choose fixed step
    Your real time
    interrupt rate
    Configure for Compile (2-compile)
    1. Click on Browse.
    2. Select xPC Target
    from the pop up menu.
    3. Screen should now
    look like this.
    On your Simulink window select:
    SimulationSimulation ParametersReal-Time Workshop
    Configure for Compile (3-data log)
    On your Simulink window select:
    SimulationSimulation ParametersReal-Time Workshop
    1. Select xPC Target code
    generation options
    2. Enter size of data
    logging buffer.
    Compile and Download
    Method 1
    Click on the
    Build button.
    Using either method 1 or method 2 will cause MATLAB to
    compile your Simulink Model and download the real time
    code to the target PC.
    Method 2 select:
    ToolsReal-Time
    WorkshopBuild Model
    Execute via GUI
    At the MATLAB prompt, type: xpcrctool <enter>
    Click play button to start
    real time code execution.
    Log data to plot
    after execution.
    Monitor signals
    during run time.
    Not Real Time!
    Monitor Signals via GUI
    1. Select Host scope
    2. Click Add Scope
    5. Click Add Signals
    3. Select Host
    Your Simulink diagram will pop up.
    You can select any signal to monitor
    by right clicking on the signal trace.
    4. Select from pull down menu:
    ToolsHost Scope Manager
    Data Logging via GUI
    After the program has finished,
    check the outputs box. Click
    on Plot Logged Data.
    The outputs correspond to
    the outport blocks in your
    Simulink Diagram
    Data Logging via Command Line
    Regardless of how you execute the real time code, the logged data
    will be available from the MATLAB command line after the code
    has finished.
    The variable tg.timelog is a time vector
    tg.outputlog is a matrix of logged data
    tg.outputlog(:,1)
    tg.outputlog(:,2)
    tg.outputlog(:,3)
    time = tg.timelog;
    outputlog =
    tg.outputlog;
    response
    =outputlog(:,3);
    plot(time,response);
    At the MATLAB prompt:
    Parameter tuning
    You can change the parameters during run time by
    clicking on Simulink blocks.
    3. Start execution of your real time code
    with xpcrctool (or any other method).
    1. Select SimulationExternal
    2. Select SimulationConnect to Target
    4. Click on blocks to change parameter
    values during real time.
    5. After execution finishes, Click on
    SimulationDisconnect from Target.
    MATLAB Scripting
    (1-Application Control)
    1. Compile and download code using Simulink
    start(tg): start execution of real time code
    stop(tg): stop execution of real time code
    If you already have a compiled application,
    you can load it with:
    load(XPCOBJ, APPNAME)
    MATLAB Scripting 2 Parameter Tuning
    set(tg,'ShowParameters','on') ;
    <enter>
    tg <enter>
    Each parameter will have a parameter name (e.g. P1 P14, etc.)
    To see the list of parameters and associated Simulink variables:
    Parameters = PROP. VALUE PARAMETER NAME BLOCK NAME
    P0 -1.000000 Scalar P1 PCI-QUAD04
    P1 1024.000000 Scalar P2 PCI-QUAD04
    P2 3.000000 Scalar P3 PCI-QUAD04
    P3 1.000000 Scalar P4 PCI-QUAD04
    P4 3.000000 Scalar P5 PCI-QUAD04
    P5 1.000000 Scalar P6 PCI-QUAD04
    P6 0.001000 Scalar P7 PCI-QUAD04
    P7 3.000000 Scalar P8 PCI-QUAD04
    MATLAB Scripting Demo
    csddemoxpc.m
    1. Starts real time code.
    2. Tunes the gains during
    runtime.
    3. Stops real time code.

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