LabVIEW

TM

Simulation Module User Manual

LabVIEW Simulation Module User Manual

April 2004 Edition

Part Number 371013A-01
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Contents

About This Manual

Conventions ...................................................................................................................vii
Related Documentation..................................................................................................viii

Chapter 1
Introduction to Modeling
Modeling Dynamic Systems ..........................................................................................1-1
Determining Model Complexity......................................................................1-2
Developing the Model .....................................................................................1-2
Physical Modeling ............................................................................1-2
Lumped versus Distributed Parameter Models ..................1-2
Linear versus Nonlinear Models.........................................1-2
Time-Variant versus Time-Invariant Models .....................1-3
Continuous versus Discrete Models ...................................1-3
Empirical Modeling ..........................................................................1-3
Introduction to Ordinary Differential Equation Solvers ................................................1-3
Introduction to Rapid Control Prototyping and Hardware-in-the-Loop
Configurations.............................................................................................................1-4

Chapter 2
Simulation Environment
Simulation Diagram .......................................................................................................2-1
Simulation Loop ..............................................................................................2-1
LabVIEW VIs, Functions, and Structures.......................................................2-2
Feedback Cycles..............................................................................................2-3
Setting Simulation Parameters ........................................................................2-5
Simulation Time Parameters.............................................................2-7
Continuous Solver Parameters ..........................................................2-7
Discrete Solver Parameters ...............................................................2-8
Setting Timing Parameters ..............................................................................2-9
LabVIEW Real-Time Module for ETS Targets................................2-9
LabVIEW Real-Time Module for RTX Targets...............................2-9
Off-Line Simulations ........................................................................2-10
Simulation Functions .....................................................................................................2-10
Discrete Systems Functions.............................................................................2-12
Displaying Dynamic Content on Expandable Nodes ......................................2-12
Flipping Function Direction ............................................................................2-13
Programmatically Stopping a Simulation........................................................2-14

© National Instruments Corporation v LabVIEW Simulation Module User Manual

Contents

Simulation Subsystems.................................................................................................. 2-14

Creating a Simulation Subsystem ................................................................... 2-14
Stand-Alone Subsystems................................................................................. 2-15
Subsystems within a Simulation Diagram ...................................................... 2-15
Linearizing a Subsystem ................................................................................. 2-16
Simulation Debugging................................................................................................... 2-17

Chapter 3
Real-Time Applications
Determinism .................................................................................................................. 3-1
Case Study: Rapid Control Prototype and Hardware-in-the-Loop Simulation ............. 3-2
Off-Line Simulation........................................................................................ 3-2
Rapid Control Prototype Implementation ....................................................... 3-3
Hardware-in-the-Loop Implementation .......................................................... 3-4
Discrete Behavior............................................................................................ 3-4

Chapter 4
Ordinary Differential Equation Solvers
Simulation Discontinuities ............................................................................................ 4-2
ODE Solver Accuracy and Order .................................................................................. 4-2
Variable Step-Size versus Fixed Step-Size ODE Solvers ............................................. 4-3
Single-Step versus Multi-Step ODE Solvers................................................................. 4-3
Stiff ODE Solvers.......................................................................................................... 4-4
LabVIEW Simulation ODE Solvers.............................................................................. 4-4

Chapter 5
Simulink Translator
Converting Simulink Models into LabVIEW Code ...................................................... 5-1
Common Warnings........................................................................................................ 5-2

Appendix A
Technical Support and Professional Services

Glossary

LabVIEW Simulation Module User Manual vi ni.com

About This Manual

The LabVIEW Simulation Module User Manual describes how to use the
simulation environment, Simulation functions, and simulation subsystems.
Refer to the LabVIEW Help for more information about specific Simulation
Module palettes, functions, and dialog box options.

Use this manual to learn how to use the LabVIEW Simulation Module in
real-time applications and how to use the Simulink Translator to convert
Simulink® model (.mdl) files into LabVIEW VIs. This manual also
describes factors to consider when you develop a model and factors to
consider when you select an ordinary differential equation (ODE) solver to
use for a simulation.

Conventions
The following conventions appear in this manual:

» The » symbol leads you through nested menu items and dialog box options
to a final action. The sequence File»Page Setup»Options directs you to
pull down the File menu, select the Page Setup item, and select Options
from the last dialog box.

This icon denotes a note, which alerts you to important information.

bold Bold text denotes items that you must select or click in the software, such
as menu items and dialog box options. Bold text also denotes parameter
names; dialog box names; and pages, sections, and components of dialog
boxes.

italic Italic text denotes variables, emphasis, or a cross reference. This font also
denotes text that is a placeholder for a word or value that you must supply.

monospace Text in this font denotes text or characters that you should enter from the
keyboard. This font is also used for the proper names of disk drives, paths,
directories, programs, subprograms, subroutines, device names, functions,
operations, variables, filenames, and extensions.

© National Instruments Corporation vii LabVIEW Simulation Module User Manual

About This Manual

Related Documentation
The following documents contain information that you might find helpful
as you read this manual:
• LabVIEW Control Design Toolkit User Manual
• LabVIEW Execution Trace Toolkit User Guide
• LabVIEW Help
• LabVIEW Real-Time Module User Manual
• LabVIEW User Manual
• NI-CAN Hardware and Software Manual
• NI-DAQmx Help

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Introduction to Modeling
1
With the LabVIEW Simulation Module, you can investigate the
time-dependent behavior of complex engineering systems. Use the
Simulation Module to model and simulate any systems that differential
and/or difference equations can characterize. Such systems include, but
are not limited to, mechanical, electrical, fluid, and thermodynamic
engineering systems. The Simulation Module provides analysis functions
for both linear and nonlinear systems.

With the Simulation Module, you can create simulations to lower product
development costs by accelerating product development, providing higher
quality, and reducing associated risk. You also can create simulations to
provide insight into the behavior of systems that you cannot replicate
conveniently in the laboratory.

Note This document is not intended to provide a comprehensive discussion of modeling.

Refer to the following books for more information about modeling: Modern Control
Systems1, Feedback Control of Dynamic Systems2, Digital Control of Dynamic Systems3,
Control Systems Engineering4, and Modern Control Engineering5.

Modeling Dynamic Systems

A model is a set of equations that characterizes the behavior of a system.
A dynamic system is a system whose behavior varies with time.

Consider the following issues when you develop a dynamic system model.

1 Dorf, Richard C., and Robert H. Bishop. Modern Control Systems, 9th ed. Upper Saddle River, NJ: Prentice-Hall, Inc., 2001.
2 Franklin, Gene F., J. David Powell, and Abbas Emami-Naeini. Feedback Control of Dynamic Systems, 4th ed. Upper Saddle
River, NJ: Prentice Hall, 2002.
3 Franklin, Gene F., J. David Powell, and Michael L. Workman. Digital Control of Dynamic Systems, 3rd ed. Menlo Park, CA:
Addison Wesley Longman, Inc., 1998.
4 Nise, Norman S. Control Systems Engineering, 3rd ed. New York: John Wiley & Sons, Inc., 2000.
5 Ogata, Katsuhiko. Modern Control Engineering, 4th ed. Upper Saddle River, NJ: Prentice-Hall, Inc. 2001.

© National Instruments Corporation 1-1 LabVIEW Simulation Module User Manual

Chapter 1 Introduction to Modeling

Determining Model Complexity

When you develop a system model, you must decide what to include in
the model and how complex the model will be. For example, if you are
developing a model of a vehicle shock system, you might take into account
engine vibration or passenger movement in the vehicle. However, because
these effects are minimal, you do not need to include them in the model. By
limiting the complexity of the model, you can reduce model development
and validation effort.

Developing the Model

You can use physical laws or experimental data to develop a model. The
following sections describe features of both the physical modeling and the
empirical modeling techniques.

Physical Modeling
The laws of physics define the physical model of a system. The following
sections describe various classifications and features of physical models.

Lumped versus Distributed Parameter Models

If you can use an ordinary differential equation to describe a physical
system, the resulting model is a lumped parameter model. If you can use
partial differential equations to describe a system, the resulting model is
a distributed parameter model.

Linear versus Nonlinear Models

A linear model obeys the principle of superposition. The following
equations are true for linear models:

y1 = f(x1)

y2 = f(x2)

Y = f(x1 + x2) = y1 + y2

A differential equation is linear if the coefficients are constant or change

only with the independent variable. Often this independent variable is time.

A nonlinear model does not obey the principle of superposition. Nonlinear

effects that are observed in real-world systems include, but are not limited
to, saturation, dead-zone, friction, backlash, and quantization effects;

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 Chapter 1 Introduction to Modeling

relays; switches; and rate limiters. All real-world systems are nonlinear,
though you can linearize the model to simplify a design or analysis task.

Time-Variant versus Time-Invariant Models

Dynamic models are time-variant or time-invariant. If the parameters of
a model do not change with time, then the model is a time-invariant model.
If the parameters change with time, then the model is a time-variant model.
For example, you can use a time-variant model to describe an automobile.
As fuel burns, the mass of the vehicle changes with time.

Continuous versus Discrete Models

Dynamic models can be either continuous or discrete. Continuous models
represent real-world signals that vary continuously with time. For example,
a model that describes the orbital motion of a satellite is a continuous
model. You can use differential equations to describe continuous systems.
Discrete models represent signals that are sampled in time at discrete
intervals. For example, a model that controls the altitude of the satellite is
a discrete model. You can use difference equations to describe discrete
systems. In either case, the equations that describe the system can be linear
or nonlinear and time-variant or time-invariant.

Empirical Modeling
Empirical models use data gathered from experiments to define the
mathematical model of a system. To some degree, even physical models
are empirical because you determine experimentally certain constants used
to develop the model. A variety of empirical modeling methods exist. One
method of empirical modeling uses tables of experimental data that
represent the system you want to model. Another method for developing
models uses system identification methods. System identification methods
use measured data to create differential or difference equation
representations that model the data. You can use LabVIEW System
Identification Toolkit VIs to create models using system identification
methods. If you have the System Identification Toolkit installed, refer to
the LabVIEW Help for more information about these VIs.

Introduction to Ordinary Differential Equation Solvers

You can use a system of differential equations to mathematically describe
dynamic systems. You must solve these equations to observe the behavior
of the simulated system. The Simulation Module includes ODE solvers,
which can solve these equations.

© National Instruments Corporation 1-3 LabVIEW Simulation Module User Manual

Chapter 1 Introduction to Modeling

ODE solvers use methods to approximate the solution to a differential

equation. The ODE solvers implement these methods in a variety of ways,
each with various strengths and weaknesses. Defining characteristics of an
ODE solver include its accuracy (or order), stability, use of a fixed time step
versus a variable time step, and use of a single step versus multiple steps.

Difficulties can arise when you solve a differential equation in a system

whose dynamics are described by widely differing time constants. Such a
system is known as a stiff system. You must give stiff systems special
consideration when you choose an integration method. Refer to Chapter 4,
Ordinary Differential Equation Solvers, for more information about ODE
solvers.

Introduction to Rapid Control Prototyping and

Hardware-in-the-Loop Configurations
Design and test engineers use rapid control prototyping (RCP) and
hardware-in-the-loop (HIL) to evaluate and validate system components
while they develop complex control systems. In an RCP configuration, you
test a control algorithm with the actual physical system the algorithm
controls. The control algorithm runs as part of the software model on
real-time prototyping hardware. You can verify the control algorithm with
the actual physical plant before deploying the algorithm to the actual
controller hardware. In an HIL configuration, you test a controller
implementation, with the actual controller hardware, using software
models to simulate the plant. In both the RCP and HIL configurations, the
physical components tested respond to the simulated signals as though they
were operating in the real system.

Replacing parts of the system with computers running software simulations

reduces the size and complexity of the application, increases the flexibility
and rate of running many different tests and test scenarios, and reduces
system development costs. For example, with RCP, you can evaluate
control logic without incurring the costs associated with generating target
code and using controller hardware. Refer to Chapter 3, Real-Time
Applications, for more information about RCP and HIL.

LabVIEW Simulation Module User Manual 1-4 ni.com

Simulation Environment
2
You can use the simulation environment within LabVIEW to design system
models for simulation in typical block diagram form. As you build a
simulation model, notice that the simulation diagram looks different than
other LabVIEW diagrams. The simulation diagram has a distinct yellow
background, and Simulation function icons have purple backgrounds,
which distinguish them from other LabVIEW features.

Simulation Diagram
The simulation diagram graphically displays the simulation model that an
application must evaluate at each time step of the simulation. You place a
dynamic element and other logical or arithmetic code on the simulation
diagram to define the model the ODE solver evaluates at each time step.

Note Dynamic elements include the following Simulation functions: Integrator, State
Space, Transfer Function, Zero-Pole-Gain, Discrete Integrator, Discrete State Space,
Discrete Transfer Function, and Discrete Zero-Pole-Gain.

The simulation diagram uses an ODE solver to compute the behavior of a

model over time. Given the behavior of the model at time t – dt, the ODE
solver determines the behavior and outputs of the model at time t, where dt
is the time step of the ODE solver. Depending on the type of ODE solver
the simulation diagram uses, the ODE solver might evaluate a simulation
diagram several times during a single time step.

Simulation Loop
Because simulations naturally run as loops that iterate over multiple time
steps, the Simulation Module includes the Simulation Loop. The
Simulation Loop, shown in Figure 2-1, executes the simulation diagram
until it reaches the simulation final time or until the Halt Simulation
function programmatically stops the execution.

© National Instruments Corporation 2-1 LabVIEW Simulation Module User Manual

Chapter 2 Simulation Environment

Figure 2-1. Simulation Loop

You must place all Simulation functions, except the Set Diagram
Parameters function, and all simulation subsystems within a Simulation
Loop or within another simulation subsystem. Refer to the Simulation
Functions section for information about these functions.

You can wire the Set Diagram Parameters function to the optional
parameters terminal of the Simulation Loop, shown at left, to
programmatically configure simulation parameters for the enclosed
simulation diagram. If the parameters terminal is unwired, you can
right-click the border of the Simulation Loop and select Configure
Simulation Parameters from the shortcut menu to configure the
simulation parameters using the Simulation Parameters dialog box. Refer
to the Setting Simulation Parameters section for more information about
setting these parameters.

The Simulation Loop has error in and error out terminals, which send
error information through the simulation diagram. If the error in terminal
detects an error, the simulation diagram returns the error information in the
error out terminal and does not evaluate the simulation. If an error occurs
while the Simulation Loop is executing, the simulation stops running, and
the error information is output in the error out terminal. Refer to the
Simulation Debugging section for more information about how to resolve
simulation errors.

LabVIEW VIs, Functions, and Structures

You can use a majority of LabVIEW VIs and functions to describe a model.
However, you cannot place certain structures, such as the Case structure,
While Loop, For Loop, Event structure, or the Sequence structures, directly
on the simulation diagram. Instead, you can place these structures in a
subVI and then place the subVI on a simulation diagram.

Note You can load models you create using the LabVIEW Control Design VIs into the
simulation diagram. Refer to the LabVIEW Control Design Toolkit User Manual for more
information about control design models.

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 Chapter 2 Simulation Environment

When you place a VI on a simulation diagram, you can specify whether to

run that VI as a discrete node. By running the VI as a discrete node, you
ensure that VI executes only once per fixed time period. This fixed time
period equals the discrete time step of the simulation multiplied by the
Sample Rate Divisor for the node. When you run a VI as a discrete node,
a red ‘D’ appears on the VI icon, shown at left. Right-click the VI on the
simulation diagram and select SubVI Node Setup from the shortcut menu
to display the SubVI Node Setup dialog box. You can use this dialog box
to specify whether to run the VI as a discrete node. If you place a
checkmark in the Run as Discrete Node checkbox, you must specify the
Sample Rate Divisor for the node. Configure this divisor as you would in
a discrete system. Refer to the Simulation Subsystems section for more
information about the Sample Rate Divisor.

Note The Run as Discrete Node option is enabled by default with a Sample Rate Divisor
of 1.

Feedback Cycles
The relationship between the inputs and outputs of a function defines the
feedthrough behavior of that function. An input has direct feedthrough to
an output if the function uses the input at the current step to compute the
output at the current step. An input has indirect feedthrough to an output if
the function does not use the input at the current step to compute the output
at the current step. The indirect feedthrough function uses the input from
the previous step or steps to compute the output at the current step.

A function on a LabVIEW simulation diagram might require only a subset

of its inputs at the current step to compute any given output at the current
step. A function on the simulation diagram returns a given output as soon
as it has received the inputs that have direct feedthrough to the output,
regardless of whether the function has received the inputs that have indirect
feedthrough to the output. Therefore, on a simulation diagram, you can
create a cycle in which data flow originates from an output of a function or
subsystem that has indirect feedthrough behavior and terminates as an input
of the same function or subsystem. This flow of data is known as a feedback
cycle. In a feedback cycle, the output of the indirect feedthrough function
or subsystem at time t is a function of the input to the same function or
subsystem at time t – dt, t – dt2, and so on.

You can use one or more Simulation functions as well as other LabVIEW
functions in a feedback cycle as long as at least one Simulation function
in the feedback cycle has indirect feedthrough behavior. The indirect
feedthrough function can start the data flow by executing its output at the

© National Instruments Corporation 2-3 LabVIEW Simulation Module User Manual

Chapter 2 Simulation Environment

current step before receiving an input from the cycle at the current step.
Therefore, the input at the current step and the output at the current step
must not depend on each other directly in at least one function in the cycle.

Figure 2-2. Feedback Cycles

Various Simulation functions, such as the Integrator function, have indirect

feedthrough behavior and, therefore, allow feedback cycles. LabVIEW
automatically determines the type of feedthrough behavior that exists
between inputs and outputs. If you attempt to wire an output to an input that
has direct feedthrough to that output, the wire is broken. In the top
Integrator function shown in Figure 2-2, output is wired to input. Because
input, in this case, does not have direct feedthrough to output, LabVIEW
allows the feedback cycle. In the bottom Integrator function, output is
wired to the initial condition input. Because initial condition has direct
feedthrough to output, LabVIEW does not allow this feedback cycle and
the wire appears broken.

Note The wires on the simulation diagram use arrows to indicate the direction of data
flow. These arrows help you identify feedback cycles on the simulation diagram by
showing data flow direction.

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 Chapter 2 Simulation Environment

Feedthrough behavior differs from function to function. The following

Simulation functions have indirect feedthrough behavior:
• Integrator
• Transport Delay
• Discrete Unit Delay

For other Simulation functions, the parameter values you specify determine
the feedthrough behavior. The following Simulation functions have
parameter-dependent feedthrough behavior:
• State Space
• Transfer Function
• Zero-Pole-Gain
• Discrete Filter
• Discrete Integrator
• Discrete State Space
• Discrete Transfer Function
• Discrete Zero-Pole-Gain

Refer to the LabVIEW Help for information about which parameters

determine the feedthrough behavior of these functions. All other
Simulation functions have direct feedthrough behavior. Refer to the
LabVIEW Help for information about the direct or indirect feedthrough
behavior of individual Simulation functions.

Setting Simulation Parameters

The simulation parameters determine the way the simulation diagram
executes. Any subsystem you place on a simulation diagram inherits the
simulation parameters from the parent simulation diagram. Refer to the
Simulation Subsystems section for more information about how simulation
parameters operate in subsystems.

To set the simulation parameters for the simulation diagram at edit time,
you can use the Simulation Parameters dialog box. To set the simulation
parameters programmatically, use the Set Diagram Parameters function.

The Simulation Parameters dialog box, shown in Figure 2-3, contains

options for setting the duration of the simulation and the parameters of the
ODE solver. To access the Simulation Parameters dialog box, right-click
the border of the Simulation Loop and select Configure Simulation
Parameters from the shortcut menu. When you run a stand-alone

© National Instruments Corporation 2-5 LabVIEW Simulation Module User Manual

Chapter 2 Simulation Environment

simulation subsystem, you can access the Simulation Parameters dialog

box by selecting Operate»Configure Simulation Parameters from the
pull-down menu.

Figure 2-3. Simulation Parameters Dialog Box

Use the Set Diagram Parameters function to set the values of the simulation
parameters programmatically.

Note Do not select Create»Control or Create»Constant directly from the parameters

terminal to set the simulation parameters. If you create a control or constant directly from
the parameters terminal, the control or constant does not explicitly list all of the simulation
parameters you can set.

Place the Set Diagram Parameters function outside the Simulation Loop to
the left of the parameters terminal and wire the simulation parameters out
output of this function to the parameters terminal. Then, right-click the
Set Diagram Parameters function and select Create»Control or Create»
Constant from the shortcut menu to create a set of simulation parameters
controls on the front panel. Figure 2-4 shows how to wire the Set Diagram

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 Chapter 2 Simulation Environment

Parameters function to create a control you can use to configure the

simulation parameters.

Figure 2-4. Wiring the Set Diagram Parameters Function

Note If you wire the Set Diagram Parameters function to the parameters terminal, the
configuration data the function specifies—including the default values—override the static
configuration you set using the Simulation Parameters dialog box.

Simulation Time Parameters

When LabVIEW executes a simulation, an ODE solver evaluates the
simulation diagram over multiple time steps beginning at the time you
specify in the Initial Time parameter and ending at the time you specify
in the Final Time parameter.

Continuous Solver Parameters

Use the Continuous Solver Method parameter to specify the type of ODE
solver LabVIEW uses to evaluate the simulation diagram. The type of ODE
solver you select determines what other simulation parameters you can set.
If you specify a fixed step-size ODE solver method, you can set the Time
Step, in units of seconds. The Time Step is the interval between the times
at which the ODE solver evaluates the model and updates the model output.

If you select a variable step-size ODE solver method, you can specify the
Initial Time Step, which is the time step size for the first time step of
the simulation diagram evaluation. A variable step-size ODE solver
dynamically adjusts subsequent time steps based upon what you specify in
the Relative Tolerance and Absolute Tolerance parameters. You can use
the Minimum Time Step and Maximum Time Step parameters to specify
the smallest and largest time step sizes the variable step-size ODE solver
can use to evaluate the simulation diagram.

Note Methods whose names are followed by the word (variable) in the Continuous
Solver Method list are variable step-size ODE solver methods. All other methods in the
list are fixed step-size ODE solver methods.

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Chapter 2 Simulation Environment

The time step size affects how accurate a simulation is and how fast the
simulation runs. A simulation with a large time step runs faster than a
simulation with a smaller time step. However, a simulation with a large
time step is less accurate than a simulation with a smaller time step. Refer
to Chapter 4, Ordinary Differential Equation Solvers, for more information
about ODE solvers and time steps.

Discrete Solver Parameters

The Discrete Time Step is the base time interval, in units of seconds, for
which the ODE solver evaluates the discrete functions and updates the
function outputs. However, the ODE solver might not evaluate a discrete
function each Discrete Time Step. Rather, the ODE solver evaluates the
discrete function every n discrete time steps, where n is the sample rate
divisor you specify for that function. Refer to the Discrete Systems
Functions section for more information about how LabVIEW determines
when to update the output of a discrete function.

The type of ODE solver you select determines how you can specify the
Discrete Time Step. If you select a fixed step-size ODE solver method,
you can use the Use multiple of Time Step option, which is enabled by
default, to set the Discrete Time Step. When this option is enabled,
LabVIEW multiplies the Time Step by the Discrete Time Step Multiple
to calculate the Discrete Time Step. The Use multiple of Time Step
option is useful because, for fixed step-size ODE solvers, the Discrete
Time Step must be an integer multiple of the Time Step.

If you remove the checkmark from the Use multiple of Time Step
checkbox and specify the Discrete Time Step directly, LabVIEW verifies
that the Discrete Time Step is an integer multiple of the Time Step for
fixed step-size ODE solvers. If you attempt to specify a Discrete Time
Step that is not an integer multiple of the Time Step, LabVIEW launches
a Configuration Error dialog box when you click OK to close the
Simulation Parameters dialog box. You can select Modify
Configuration or Continue Anyway from the Configuration Error
dialog box.

If you select a variable step-size ODE solver, the Discrete Time Step is not
required to be an integer multiple of the Time Step. Therefore, the Use
multiple of Time Step option is not available. You must specify the
Discrete Time Step directly. The Use multiple of Time Step option is also
unavailable if you configure the simulation parameters programmatically,
regardless of the ODE solver method you select.

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 Chapter 2 Simulation Environment

Setting Timing Parameters

Right-click the Simulation Loop and select Configure Simulation Timing
Parameters from the shortcut menu to display the Loop Configuration
dialog box. Use this dialog box to configure the simulation timing
parameters.

Note The simulation timing parameters are most accurate in a LabVIEW Real-Time
application. If you do not run an application on a real-time system, other processes on the
operating system can interrupt the execution of the Simulation Loop.

LabVIEW Real-Time Module for ETS Targets

If you are executing a simulation on a real-time operating system, National
Instruments recommends you set the Period, in milliseconds/microseconds
(the unit depends on the timing source), to the same value as the Time Step
of the simulation model. The Simulation Loop uses the Period to achieve
wall-clock time.

LabVIEW Real-Time Module for RTX Targets

You must set the Period to 0 to avoid receiving a run-time error when you
select the RTX target as the execution target for a simulation diagram or
subsystem. If you select the RTX target as the execution target for a
top-level simulation diagram or subsystem with a non-zero Period,
LabVIEW returns a run-time error if you attempt to run the simulation
diagram or subsystem. If the simulation diagram or subsystem is embedded
in a subVI, LabVIEW returns a run-time error if you attempt to run the
subVI.

Complete the following steps to avoid these errors when you run a
simulation diagram or subsystem that is downloaded to the RTX target:
1. Open the Loop Configuration dialog box and set the Period to 0.
2. Place a subVI that contains a Wait Until Next ms Multiple function on
the simulation diagram or subsystem and set the millisecond multiple
accordingly.

This procedure allows other tasks to continue to execute when the

simulation is not scheduled to execute. Refer to the LabVIEW Real-Time
Module User Manual for more information about using the LabVIEW
Real-Time Module for RTX Targets.

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Chapter 2 Simulation Environment

Off-Line Simulations
If you are executing an off-line simulation on a Windows operating system,
National Instruments recommends you set the Period to 0 for optimal
performance. Refer to the Loop Configuration Dialog Box (Simulation
Module) topic in the LabVIEW Help for more information about setting the
timing parameters for the Simulation Loop.

Simulation Functions
Use the Simulation functions and other LabVIEW functions to build a
simulation model. You must place all Simulation functions, except the
Set Diagram Parameters function, on the simulation diagram, either inside
a Simulation Loop or in a simulation subsystem. Refer to Simulation
Subsystems for information about placing functions in a simulation
subsystem.

Many Simulation functions have a configuration dialog box that you can
use to view and set the function parameters. Double-click a Simulation
function to display its configuration dialog box. For example, Figure 2-5
displays the configuration dialog box for the Sine Wave function.

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 Chapter 2 Simulation Environment

Figure 2-5. Configuration Dialog Box

The left side of the configuration dialog box lists all the parameters that you
can configure for the Sine Wave function. When you select a parameter
from the Parameters table, the Parameter Information section displays
a control you can use to set the value of that parameter. You can use the
Parameter source control to specify the source of the parameter value.
If you select Configuration page as the Parameter source, LabVIEW
uses the parameter value you specify in the configuration dialog box. If you
select Terminal, LabVIEW uses the parameter value you wire to the input
terminal on the simulation diagram.

Note If you specify Configuration page as the Parameter source for a parameter, an
input terminal does not exist on the function icon for that parameter.

The parameters you specify for a Simulation function are unique to that
function. If you create multiple instances of the same function, you can set
different parameter values for each instance of the Simulation function. If
you copy and paste a Simulation function, the copy of the function retains
the parameter values of the original function.

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Chapter 2 Simulation Environment

Discrete Systems Functions

The sample rate of a discrete function must be a multiple of the discrete
time step of the system. All discrete functions have a sample rate divisor
parameter on the configuration dialog box. This parameter specifies the
multiple of the discrete time step that LabVIEW uses to determine the
sample rate of the discrete function. If the sample rate divisor is 1, the
discrete function updates its output every discrete time step. If the sample
rate divisor is n, the discrete function updates its output every n discrete
time steps.

Note Different discrete functions can run at different sample rates in the Simulation Loop.

Displaying Dynamic Content on Expandable Nodes

Simulation function icons, called expandable nodes, can display dynamic
content on the simulation diagram. The configuration of the function you
specify in the configuration dialog box determines the expandable node
display. For example, the Signal Generator function graphically displays
a preview of the signal it will generate. If you change the signal type
parameter of this function, the signal the icon displays changes. Figure 2-6
shows the expandable node for the Signal Generator function. The Signal
Generator function on the left shows the icon for the function when you set
the signal type to Sine. The Signal Generator function on the right shows
the icon for the same function when you set signal type to Sawtooth.

Figure 2-6. Displaying Dynamic Content on an Expandable Node

Note A function displays dynamic content only if it uses the dynamic icon style.
Right-click an icon and select Icon Style»Dynamic from the shortcut menu to specify this
icon style. Dynamic is the default icon style for Simulation functions.

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 Chapter 2 Simulation Environment

If an expandable node uses the dynamic icon style, you can change the size
of that expandable node on the simulation diagram. For example, you can
resize the Signal Generator node on the simulation diagram to view more
of the graph. Figure 2-7 displays the original icon and the resized icon.

Figure 2-7. Resizing Expandable Nodes

Flipping Function Direction

Because feedback cycles are an inherent part of a simulation model,
feedback loops are common. You can flip Simulation functions
horizontally to better display the data flow of a looped system,
as shown in Figure 2-8.

Figure 2-8. Horizontally Flipping the Gain Function

To flip a Simulation function, right-click the icon and select Reverse

Terminals from the shortcut menu.

© National Instruments Corporation 2-13 LabVIEW Simulation Module User Manual

Chapter 2 Simulation Environment

Programmatically Stopping a Simulation

To stop the simulation programmatically, use the Halt Simulation function.
Place the Halt Simulation function on the simulation diagram and wire a
Boolean control to the Halt? input. If the Halt? Boolean control is TRUE,
the function stops the simulation after the current time step. You also can
place a Halt Simulation function in a simulation subsystem to stop the
execution of the parent simulation diagram. The Halt Simulation function
operates like the conditional terminal on a While Loop. However, you can
place more than one Halt Simulation function on the simulation diagram.
With multiple Halt Simulation functions, you can stop the simulation from
various points in a simulation diagram or subsystem.

Simulation Subsystems
Creating simulation models using the Simulation Module can require a
large amount of space on the block diagram. To reduce the amount of space
required to create a simulation diagram, you can convert a section of that
simulation diagram into a simulation subsystem.

A simulation subsystem, like a subVI, is a type of LabVIEW VI. A function

in a simulation subsystem can execute when that function receives all the
inputs that function uses, even if the subsystem has not received all the
inputs the subsystem uses. A simulation subsystem stores a feedthrough
mapping from all inputs to all outputs. If an indirect feedthrough function
is in the data flow from a subsystem input to a subsystem output, that is, if
a dependency does not exist between a subsystem input at the current step
and a subsystem output at the current step, LabVIEW allows you to use the
subsystem as an indirect feedthrough function in a feedback cycle. Refer to
the Feedback Cycles section for more information.

Creating a Simulation Subsystem

You can create a simulation subsystem by selecting a section of a
simulation diagram and selecting Edit»Create Simulation Subsystem
from the pull-down menu. LabVIEW replaces the nodes in the selected
section in the simulation diagram with a single node that represents the
simulation subsystem.

Note If you select Edit»Create SubVI after highlighting nodes on a simulation diagram,
LabVIEW creates a subVI from only the non-Simulation function nodes in the selection.

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 Chapter 2 Simulation Environment

You also can create a simulation subsystem using the New dialog box,
which you can access by selecting File»New from the pull-down menu.
Select Other Document Types»Simulation Subsystem from the Create
new list.

Stand-Alone Subsystems
When you execute the simulation subsystem as a stand-alone VI, the
simulation diagram executes as if it were contained within a Simulation
Loop. This behavior enables you to edit the simulation model without
having to place a Simulation Loop on the block diagram.

Simulation subsystems store default simulation parameters that LabVIEW

uses when executing the subsystem as a stand-alone VI. You can use the
Simulation Parameters dialog box to configure the simulation parameters
for the subsystem. Select Operate»Configure Simulation Parameters
from the pull-down menu to access this dialog box from a subsystem. The
parameter settings for the subsystem are valid only when the subsystem
runs as a stand-alone VI. When you place the subsystem on a simulation
diagram, the subsystem inherits the parameter values from the parent
simulation diagram. Refer to the Setting Simulation Parameters section for
more information about simulation parameters.

You can configure the simulation timing parameters for a stand-alone

subsystem by selecting Operate»Configure Simulation Timing
Parameters from the pull-down menu. When you place the subsystem on
a simulation diagram, the subsystem inherits the timing parameters of the
parent simulation diagram. Refer to the Setting Timing Parameters section
for more information about simulation timing.

Subsystems within a Simulation Diagram

If you do not run the simulation subsystem as a stand-alone VI, you can
place the simulation subsystem on a simulation diagram. LabVIEW
executes a simulation subsystem like other Simulation functions on the
simulation diagram.

Note The settings you specify in the Execution Properties page for the simulation
subsystem do not affect the execution of the parent simulation diagram when you place the
subsystem on a simulation diagram. Select File»VI Properties and select Execution from
the pull-down menu to display the Execution Properties page.

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Chapter 2 Simulation Environment

When you place a simulation subsystem on a simulation diagram,

LabVIEW creates a special simulation subsystem node. To open the front
panel of the simulation subsystem, right-click the simulation subsystem
node and select Open Subsystem from the shortcut menu. The simulation
subsystem node, like Simulation function nodes, is resizable and
dynamically displays the simulation diagram of the subsystem.

Like a Simulation function, the simulation subsystem has a configuration

dialog box, which you can use to specify sources and values for each of the
input parameters wired to the simulation subsystem. Double-click the
simulation subsystem node to access this dialog box. The control
connection type for each parameter on the subsystem connector pane
determines the default source of the parameter in the configuration dialog
box. The initial value for the parameter is the default value of the control
on the subsystem simulation diagram that corresponds to that parameter.
The following list describes the default sources of parameters as they
correspond to the control connection types.
• If the connection is required, the parameter is available only as a
terminal on the node. The parameter is not visible in the configuration
dialog box.
• If the connection is recommended, the initial source of the parameter
is the terminal. You also have the option to configure the parameter
using the configuration dialog box.
• If the connection is optional, the initial source of the parameter is the
configuration dialog box. You also have the option to configure the
parameter using a terminal on the node.

Note You can configure the connector pane for a simulation subsystem the same way you
configure the connector pane for a subVI.

Linearizing a Subsystem
You can use the Linearize Subsystem dialog box to generate a linear
time-invariant state-space model from the subsystem model. You can use
this linear state-space model for control design. Select Tools»Simulation
Tools»Linearize Subsystem from the pull-down menu to display this
dialog box. Refer to the LabVIEW Help for more information about the
Linearize Subsystem dialog box.

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 Chapter 2 Simulation Environment

Simulation Debugging
LabVIEW performs syntax checking on the simulation diagram. While you
edit the simulation diagram, LabVIEW notifies you if there is a data type
problem or an invalid feedback cycle.

The simulation diagram supports standard LabVIEW debugging

techniques. You can use execution highlighting, breakpoints, probes,
custom probes, and single-stepping on the simulation diagram.

You cannot use execution highlighting, breakpoints, probes, or

single-stepping in a simulation subsystem if that subsystem is part of a
simulation diagram. You also cannot step into a subsystem. You can set a
breakpoint on the entire subsystem by right-clicking the subsystem and
selecting Set Breakpoint from the shortcut menu. You also can use a probe
or a custom probe to monitor the subsystem output.

Note If you run the subsystem in stand-alone mode, you can debug it the same way you
can debug a simulation diagram.

Refer to the LabVIEW User Manual for information about LabVIEW

debugging techniques.

© National Instruments Corporation 2-17 LabVIEW Simulation Module User Manual

Real-Time Applications
3
The Simulation Module, in conjunction with the LabVIEW Real-Time
Module and National Instruments hardware, allows you to implement
simulations and controllers in real time with real-world inputs and outputs.
This chapter provides an overview of a real-time application and describes
a case study that involves the rapid control prototype (RCP) and
hardware-in-the-loop (HIL) implementations.

Refer to the LabVIEW Real-Time Module User Manual for more

information about creating real-time applications using the LabVIEW
Real-Time (RT) Module. You can use the RT Module to get data into
and out of the real-time VI. You also can use tools such as the RT
Communication Wizard and the LabVIEW Execution Trace Tool to
develop and fine-tune an application. Refer to the LabVIEW Execution
Trace Toolkit User Guide for more information about the LabVIEW
Execution Trace Tool.

Refer to the documentation for the type of I/O you are using for more
information about I/O programming in the Real-Time Module. For
example, refer to the NI-DAQmx Help for information about analog,
digital, and timing I/O. Refer to the NI-CAN Hardware and Software
Manual for information about CAN I/O.

Determinism
Running a simulation or controller in real time means that the simulation
time must equal the wall-clock time at each point at which the simulation
or controller interacts with the real world. Generally, these physical
interaction points correspond to the sampling points of the input and output
hardware. Thus, at each sampling time, the simulation time must equal the
wall-clock time.

To meet the real-time deadline, the software implementing the simulation

or controller must execute deterministically. That is, there is a strict upper
bound on the execution time of the software. Running a model in real time
requires that you use deterministic algorithms in the time-critical portion of
the application. Running the model in real time ensures that code running
at each time step meets the deadlines imposed by the timing of the hardware

© National Instruments Corporation 3-1 LabVIEW Simulation Module User Manual

Chapter 3 Real-Time Applications

inputs and outputs. Some ODE solvers, including the variable step-size
ODE solvers, are inherently non-deterministic. You cannot use these
non-deterministic ODE solvers in a real-time application.

To meet determinism requirements, you must use an ODE solver designed

for determinism, which includes the Runge-Kutta 1–4 ODE solvers. These
ODE solvers are all fixed time-step algorithms, which are appropriate for
fixed sampling-rate inputs and outputs.

All of the discrete ODE solvers have an inherently fixed time step size and
are inherently deterministic. Therefore, the discrete ODE solvers are
appropriate for real-time implementation. The Discrete Systems functions
use the discrete ODE solvers in their implementation. ODE solver
determinism is important only when you use continuous dynamic
functions, such as the Integrator, State Space, Transfer Function, and
Zero-Pole-Gain functions.

Case Study: Rapid Control Prototype and

Hardware-in-the-Loop Simulation
This section provides an overview of the process you might use to create a
controller. It describes an off-line simulation that contains both the plant
and the controller. It also describes how to modify this off-line simulation
to create an RCP, followed by an HIL, simulation.

Off-Line Simulation
The starting point is the off-line simulation of the full system. The
simulation diagram in Figure 3-1 represents a simple control system.
The system contains a controller, a model of the plant, and a front panel
control that represents the set point or reference signal.

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 Chapter 3 Real-Time Applications

Figure 3-1. Full System Simulation

Rapid Control Prototype Implementation

You might want to prototype the controller implementations on real-time
hardware with the controller outputs connected to real actuators and the
controller inputs connected to real sensors. This prototyping method is
often referred to as rapid control prototyping.

To convert the full simulation to a rapid control prototype, remove the plant
model from the simulation. Replace the plant input with a hardware output
and replace the plant output with a hardware input.

Note The inputs and outputs can be analog or digital signals, timing signals such as
encoders, CAN signals, and so on.

Figure 3-2 shows the block diagram of the RCP implementation.

Figure 3-2. Rapid Control Prototype Implementation

© National Instruments Corporation 3-3 LabVIEW Simulation Module User Manual

Chapter 3 Real-Time Applications

In Figure 3-2, notice that the block diagram code to the left of the
Simulation Loop is the NI-DAQmx setup code. Inside the Simulation
Loop, the DAQmx Read (Analog DBL 1Chan 1Samp) VI receives an
analog value from the data acquisition device, and the DAQmx Write
(Analog DBL 1Chan 1Samp) VI returns an analog value to the device.
Refer to the NI-DAQmx Help for more information about single-point
hardware-timed I/O.

Hardware-in-the-Loop Implementation
You might want to test a controller implementation versus a plant
simulation. In these HIL simulations, the plant model and its associated
inputs and outputs must occur in real time to provide the most accurate and
reliable controller testing.

You can convert the full simulation of the system to an HIL simulation in a
manner similar to the RCP implementation. You must remove the controller
from the full off-line simulation and then replace the plant model input with
a hardware input and the plant model output with a hardware output. The
result, shown in Figure 3-3, is a system similar to the RCP implementation,
except with the controller model, not the plant model, replaced with
physical hardware inputs and outputs.

Figure 3-3. Hardware-in-the-Loop Implementation

Discrete Behavior
Notice the discrete nature of the I/O calls in the simulation diagram. The
I/O executes only once per fixed time step of the continuous Integrator
function. Refer to the LabVIEW VIs, Functions, and Structures section
of Chapter 2, Simulation Environment, for more information about
configuring the discrete behavior of LabVIEW VIs you place on a
simulation diagram.

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Ordinary Differential Equation
4
Solvers
To compute the behavior of a continuous model over time, the Simulation
Module must solve the following initial value problem:

dy
------ = f ( t, y )
dt

y ( t0 ) = y 0

y represents the outputs of the Integrator functions, y0 represents the initial

conditions for those Integrator functions, and f(t, y) represents the other
(non-integrating) functions on the simulation diagram.

The Simulation Module provides a number of solution methods for this

problem. Each of the ODE solvers approximates the behavior of the model
at time t + dt based on the behavior of the model from t0 to t. The quantity
dt is the step size of the ODE solver, and the interval from t to t + dt is one
time step taken by the ODE solver. All ODE solvers might need to evaluate
the model diagram multiple times to compute accurate values for time
t + dt. This means that when you are debugging a simulation, you might
notice data flowing through the simulation diagram several times before
LabVIEW updates the indicators and graphs with their values for the end
of the time step.

It is useful to understand the various strengths and weaknesses of the ODE

solvers when simulating different types of models so you can determine the
appropriate ODE solver to use for an application. Refer to the following
books for more information about ODE solvers: Computer Methods for
Ordinary Differential Equations and Differential-Algebraic Equations1
and Numerical Solution of Ordinary Differential Equations2.

1 Ascher, Uri M., and Linda R. Petzold. Computer Methods for Ordinary Differential Equations and Differential-Algebraic
Equations. Philadelphia: Society for Industrial and Applied Mathematics, 1998.
2 Shampine, Lawrence F. Numerical Solution of Ordinary Differential Equations. New York: Chapman & Hall, Inc., 1994.

© National Instruments Corporation 4-1 LabVIEW Simulation Module User Manual

Chapter 4 Ordinary Differential Equation Solvers

Simulation Discontinuities
In general, the Simulation Module ODE solvers assume that all simulation
diagram signals and their derivatives are continuous throughout any time
step. To get the most accurate solution possible, the ODE solver must stop
and restart whenever it encounters a discontinuity. Therefore, the presence
of many discontinuities in a simulation limits the maximum step size that
an ODE solver can take. This influences which ODE solver you should
choose.

LabVIEW already accounts for discontinuities introduced by the Nonlinear

Systems and Discrete Systems functions the Simulation Module provides.
However, if a model contains continuous-mode subVIs whose outputs, or
derivatives of outputs, are not continuous, then the model must reset the
ODE solver at the points of discontinuity. You can add a Zero Cross Detect
function or wire the reset terminal on an Integrator function to ensure the
model resets the ODE solver correctly.

ODE Solver Accuracy and Order

To measure the accuracy of a simulation, you can measure the error
introduced into the solution per time step, which is known as the local error,
and measure the maximum difference between the computed solution and
the exact solution, which is known as the global error. The amount the error
changes when you vary the step size depends on the order of the ODE
solver you use. If you reduce the step size of an ODE solver by a factor of
λ, then the local error is reduced by approximately λn + 1, where n is the
order of the ODE solver. Depending on the simulation, the global error
might be reduced by approximately λn. For example, if you run a model
once with a step size of 0.1 and then run the model again with a step size of
0.05, the solution a first-order ODE solver gives might be approximately
twice as accurate in the second run as in the first run. The solution a
fourth-order ODE solver gives might be approximately 16 times more
accurate in the second run than in the first run.

In general, with a higher order ODE solver, you can use fewer time steps
and larger step sizes to get the accuracy you need, thus decreasing the
effects of round-off in the solution and potentially reducing the amount of
time needed to compute the solution. However, this accuracy might come
with a higher computational cost per step. If the step size is limited by
factors other than error, such as discontinuities, you might get the accuracy
you need more efficiently by using a lower order ODE solver.

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 Chapter 4 Ordinary Differential Equation Solvers

Variable Step-Size versus Fixed Step-Size ODE Solvers

Some of the ODE solvers the Simulation Module provides estimate the
error introduced by the ODE solver at each time step. These ODE solvers
then adjust the step size throughout the simulation to ensure that this
per-step error remains at a given relative and absolute tolerance. More
specifically, for each integrator variable y, the ODE solver varies the step
size to control the error according to the following approximation:

per-step error ≈ y * relative tolerance + absolute tolerance

These variable step-size ODE solvers can take small time steps when the
simulation variables vary rapidly and can take larger time steps when the
simulation variables vary more slowly, which increases computational
efficiency.

However, variable step-size ODE solvers are not appropriate for

deterministic real-time applications because the computational overhead of
taking a time step varies over the course of a simulation. Therefore, the
Simulation Module also provides fixed step-size, deterministic ODE
solvers. These ODE solvers do not estimate the local per-step error and
maintain a fixed step size throughout a simulation.

Single-Step versus Multi-Step ODE Solvers

The Simulation Module single-step ODE solvers approximate the behavior
of the model at time t + dt by taking into account only the behavior of the
model at time t. In contrast, multi-step ODE solvers approximate the
behavior at the end of the time step by taking into account the model
behavior at a number of previous time steps.

To achieve high order accuracy, single-step ODE solvers might need to

evaluate the model diagram more often per time step than multi-step
ODE solvers. Therefore, single-step ODE solvers might incur a higher
computational cost per step. Because of this, multi-step ODE solvers might
be able to compute an accurate solution more efficiently, in some cases,
than single-step ODE solvers. However, a certain amount of work is
required to start up a multi-step ODE solver, which must be incurred each
time an Integrator function is reset or a discontinuity is encountered.
In simulations in which the ODE solver is reset often, it might be more
efficient to use a single-step ODE solver.

© National Instruments Corporation 4-3 LabVIEW Simulation Module User Manual

Chapter 4 Ordinary Differential Equation Solvers

Stiff ODE Solvers

Certain problems, especially those with transients that vary much more
quickly than the problem solution, can be difficult to solve numerically
without using special ODE solver techniques. These problems are stiff
problems. When you solve stiff problems without a stiff ODE solver, you
might notice that variable step-size ODE solvers take smaller and smaller
time steps until they can no longer make progress on the simulation. You
also might notice an inaccurate and rapidly growing oscillatory solution no
matter how small a step size you use. In this situation, you can use a stiff
ODE solver to get a more accurate solution.

LabVIEW Simulation ODE Solvers

Use the Simulation Parameters dialog box or Set Diagram Parameters
function to specify the ODE solver to use to evaluate the simulation
diagram. The Simulation Module provides the following ODE solvers:
• Runge-Kutta 1 (Euler)—This is a fixed step-size, single-step explicit
Runge-Kutta ODE solver of first order.
• Runge-Kutta 2—This is a fixed step-size, single-step explicit
Runge-Kutta ODE solver of second order.
• Runge-Kutta 3—This is a fixed step-size, single-step explicit
Runge-Kutta ODE solver of third order.
• Runge-Kutta 4—This is a fixed step-size, single-step explicit
Runge-Kutta ODE solver of fourth order.
• Runge-Kutta 23—This is a variable step-size, single-step explicit
Runge-Kutta ODE solver of third order.
• Runge-Kutta 45—This is a variable step-size, single-step explicit
Runge-Kutta ODE solver of fifth order, which uses the
Dormand-Prince coefficients.
• BDF—This is a variable step-size, variable order (orders 1 through 5)
implementation of the multi-step Gear’s Method. This method is
adequate for moderately stiff problems.
• Adams-Moulton—This is a variable step-size, variable order
(orders 1 through 12) implementation of the Adams-Moulton
predictor-corrector pair in predict-evaluate-correct-evaluate (PECE)
mode.

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 Chapter 4 Ordinary Differential Equation Solvers

Refer to the Setting Simulation Parameters section in Chapter 2,

Simulation Environment, for more information about specifying an ODE
solver.

© National Instruments Corporation 4-5 LabVIEW Simulation Module User Manual

Simulink Translator
5
You can use the Simulink Translator to convert a Simulink model (.mdl)
file into a LabVIEW VI that contains a simulation diagram. The .mdl file
contains a hierarchical definition of the system and the blocks, lines, and
subsystems within the system.

Note The Simulink Translator cannot convert Stateflow® diagrams or other Simulink
blocksets.

The Simulink Translator converts the .mdl file into a top-level VI that
consists of a simulation diagram containing LabVIEW functions, wires,
and subsystems corresponding to the contents of the .mdl file.

Converting Simulink Models into LabVIEW Code

Select Tools»Simulation Tools»Simulink Translator from the pull-down
menu to display the Simulink Translator dialog box. Refer to the
LabVIEW Help for information about specific Simulink Translator dialog
box options.

The Simulink Translator reads and parses the .mdl file for model
information such as timing and ODE solver settings.

Note If MathWorks MATLAB® and Simulink are installed on the computer, the Simulink
Translator automatically executes any .m files included in the .mdl file before it parses the
.mdl file.

The Simulink Translator parses and stores each system, subsystem,

block, and line in Common Graph Description (CGD) format, which is
XML-based. The Simulink Translator uses the CGD file to generate a
LabVIEW subsystem for each Simulink subsystem in order. Converting in
order ensures that the Simulink Translator generates every subsystem that
has a parent simulation diagram before it generates the parent simulation
diagram. The Simulink Translator converts all blocks into one or more
LabVIEW functions or subsystems. The Simulink Translator also converts
lines into wires that connect terminals on the LabVIEW functions and
subsystems.

© National Instruments Corporation 5-1 LabVIEW Simulation Module User Manual

Chapter 5 Simulink Translator

Common Warnings
If the Simulink Translator cannot find a value for a parameter in the .mdl
file it is converting, you receive a warning. In these cases, the Simulink
Translator uses the default value of the parameter in the corresponding
LabVIEW function.

Note In some cases, the Simulink Translator cannot find a value for a parameter because
the parameter contains an expression instead of a constant value. If MATLAB is installed
on the computer, the Simulink Translator attempts to evaluate these MATLAB expressions
in the .mdl file prior to translating the file. If the Simulink Translator successfully
evaluates the expression, the Simulink Translator uses the result of that evaluation as
the parameter value and does not produce a warning.

The Simulink Translator cannot fully convert all elements of every

Simulink model to LabVIEW block diagram code. If the Simulink
Translator encounters a block it cannot convert, you receive a warning. In
these cases, the Simulink Translator creates a placeholder subsystem. You
must create a subsystem with the same functionality as the block to replace
this placeholder subsystem. Refer to the LabVIEW Help for a list of the
Simulink blocks the Simulink Translator cannot convert.

LabVIEW Simulation Module User Manual 5-2 ni.com

Technical Support and
A
Professional Services
Visit the following sections of the National Instruments Web site at
ni.com for technical support and professional services:
• Support—Online technical support resources at ni.com/support
include the following:
– Self-Help Resources—For immediate answers and solutions,
visit the award-winning National Instruments Web site for
software drivers and updates, a searchable KnowledgeBase,
product manuals, step-by-step troubleshooting wizards, thousands
of example programs, tutorials, application notes, instrument
drivers, and so on.
– Free Technical Support—All registered users receive free Basic
Service, which includes access to hundreds of Application
Engineers worldwide in the NI Developer Exchange at
ni.com/exchange. National Instruments Application Engineers
make sure every question receives an answer.
• Training and Certification—Visit ni.com/training for
self-paced training, eLearning virtual classrooms, interactive CDs,
and Certification program information. You also can register for
instructor-led, hands-on courses at locations around the world.
• System Integration—If you have time constraints, limited in-house
technical resources, or other project challenges, NI Alliance Program
members can help. To learn more, call your local NI office or visit
ni.com/alliance.

If you searched ni.com and could not find the answers you need, contact
your local office or NI corporate headquarters. Phone numbers for our
worldwide offices are listed at the front of this manual. You also can visit
the Worldwide Offices section of ni.com/niglobal to access the branch
office Web sites, which provide up-to-date contact information, support
phone numbers, email addresses, and current events.

© National Instruments Corporation A-1 LabVIEW Simulation Module User Manual

Glossary

B
BDF Backwards difference formula. Also known as Gear’s Method.

C
CGD Common Graph Description. The format the Simulink Translator uses to
store each system, subsystem, block, and line from the Simulink model.

continuous model Dynamic system model used to represent real-world signals that vary
continuously with time. A continuous model is characterized by differential
equations.

D
direct feedthrough Relationship between a function input and a function output in which the
function uses the input at the current step to calculate the output at the
current step.

discrete model Dynamic system model used to represent signals that are sampled in time
at discrete intervals. A discrete model is characterized by difference
equations.

distributed parameter Physical model that can be described by partial differential equations.
model

dynamic system System whose behavior varies with time.

E
empirical modeling Modeling technique in which you use experimental data to define a system
model.

© National Instruments Corporation G-1 LabVIEW Simulation Module User Manual

Glossary

F
feedback cycle Cycle in which data flow originates from an output of a function or
subsystem and terminates as an input of the same function or subsystem.

G
global error Maximum difference between the solution the function computes and the
exact solution.

H
HIL Hardware-in-the-loop. A simulation configuration in which you test
a controller implementation with a software model of the plant.

I
indirect feedthrough Relationship between a function input and a function output in which the
function does not use the input at the current step to compute the output at
the current step.

L
linear model Model that obeys the principle of superposition.

local error Error introduced into the solution per time step.

lumped parameter Physical model described by an ordinary differential equation.

model

M
multi-step ODE ODE solver that approximates the behavior of a model at time t + dt by
solver taking into account the behavior of the model at a number of previous time
steps.

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 Glossary

N
nonlinear model Model that does not obey the principle of superposition.

O
ODE Ordinary differential equation.

order ODE solver characteristic that determines how much the error amount
changes when you vary the step size.

P
parameters terminal Optional Simulation Loop terminal used to configure a cluster of
simulation parameters for the enclosed diagram.

PECE Predict-evaluate-correct-evaluate.

physical modeling Modeling technique in which you use the laws of physics to define a system
model.

R
RCP Rapid control prototype. A simulation configuration in which you test plant
hardware with a software model of the controller.

S
simulation diagram LabVIEW diagram that allows you to use Simulation functions within a
Simulation Loop or simulation subsystem. A simulation diagram, like other
LabVIEW diagrams, has the following semantic properties:
• The order of operations is not completely specified by the user.
• The order of operations is implied by data interdependencies.
• A function may only execute after all necessary inputs have become
available.
• Outputs are generated after a function completes execution.

Simulation Loop Loop that executes the simulation diagram over multiple time steps.

© National Instruments Corporation G-3 LabVIEW Simulation Module User Manual

Glossary

single-step ODE ODE solver that approximates the behavior of a model at time t + dt by
solver taking into account only the behavior of the model at time t.

step size Size of the interval of one time step.

stiff ODE solver ODE solver used to evaluate a stiff model.

stiff system System whose dynamics are described by widely varying time constants.

T
time step Interval from t to t + dt.

time-invariant model Model whose parameters do not change with time.

time-variant model Model whose parameters change with time.

V
variable step-size ODE solver that adjusts the step size throughout the simulation to ensure
ODE solver that the per-step error remains at a given relative and absolute tolerance.

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