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MapleSim Control Design Getting Started Guide PDF

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131 views

MapleSim Control Design Getting Started Guide PDF

Uploaded by

juakia
Copyright
© © All Rights Reserved
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Getting Started with the MapleSim Control Design Toolbox

Copyright © Maplesoft, a division of Waterloo Maple Inc.


2019
Getting Started with the MapleSim Control Design Toolbox
Copyright

Maplesoft, Maple, and MapleSim are all trademarks of Waterloo Maple Inc.

© Maplesoft, a division of Waterloo Maple Inc. 2009-2019. All rights reserved.


No part of this book may be reproduced, stored in a retrieval system, or transcribed, in any form or by any means —
electronic, mechanical, photocopying, recording, or otherwise. Information in this document is subject to change
without notice and does not represent a commitment on the part of the vendor. The software described in this document
is furnished under a license agreement and may be used or copied only in accordance with the agreement. It is against
the law to copy the software on any medium except as specifically allowed in the agreement.

Macintosh is a registered trademark of Apple, Inc.

Modelica is a registered trademark of the Modelica Association.

All other trademarks are the property of their respective owners.

This document was produced using Maple and DocBook.


Contents
Introduction ..................................................................................................................................... iv
1 Getting Started ................................................................................................................................. 1
1.1 Getting Help .............................................................................................................................. 1
1.2 Using the MapleSim Control Design Apps ...................................................................................... 1
Viewing MapleSim Control Design Examples ................................................................................. 1
1.3 Example: DC Motor ................................................................................................................... 1
Generating a Linearized Model ...................................................................................................... 1
Creating a Custom Controller ........................................................................................................ 2
Index ................................................................................................................................................ 4

iii
Introduction
The MapleSim™ Control Design Toolbox provides the necessary control design tools to extend the plant modeling
capabilities of MapleSim. Using a symbolic approach, you can design, analyze, and test control systems.

You can also use the technical documentation tools available with MapleSim to document your design decisions.

Features of this toolbox include:


• Model linearization
• Standard PID tuning techniques: Ziegler-Nichols time response, Ziegler-Nichols frequency response and Cohen-
Coon
• Advanced PID tuning techniques: Dominant pole placement, pole placement in a specified region, and gain and
phase margin
• State Feedback Control: Single input pole placement (Ackermann), multiple input pole placement, and LQR
• State Estimation: Single output pole placement (Ackermann), multiple output pole placement, and Kalman filter
• Access to commands in the ControlDesign and DynamicSystems packages in Maple™

Scope of Model Support


MapleSim Control Design Toolbox is a very comprehensive modeling tool where it is possible to design linear controllers
for models created in MapleSim. The Control Design Toolbox linearizes systems of any complexity, including systems
of DAEs of any index.

Systems that contain any type of discontinuity, including discrete transforms, switches, logic gates, relational and
Boolean operations are not supported by the current release of this product.

iv
1 Getting Started
1.1 Getting Help
In Maple, enter ?ControlDesign at a prompt in a worksheet.

1.2 Using the MapleSim Control Design Apps


The MapleSim Control Design Toolbox provides apps for linearizing MapleSim models and creating PID controllers.
These Maple-based apps allow you to generate a linearized representation of your model subsystems, as well as custom
components of your system controllers.

Viewing MapleSim Control Design Examples


Toolbox examples are available in MapleSim.

To view an example:
• From the Help menu, select Examples > Control Design Examples, and then select the model that you want to
view.

Some models include additional documents, such as apps and templates that show model equations or define custom
components. To open any of these documents:

1. Under the Attached Files tab ( ), expand Documents.


2. Right-click (Control-click for Mac®) on an attachment and select View. The attachment opens in Maple (for Maple
worksheets) or in the appropriate program.

1.3 Example: DC Motor


In this example, you will generate a linearized state-space model of the models you created in MapleSim. You will
then use this linearized model to create and tune a PID controller.

Generating a Linearized Model


To generate a linearized model:
1. From the Help menu, select Examples > Control Design Examples, and then select the DC Motor - Getting
Started model.

2. Click Add Apps or Templates ( ), and from the Apps palette double-click on the Linearization entry under
Component Creation. The Analysis window opens with the Linearization app opened in the Apps tab.
3. Using the drop-down list above the model, select the DC Motor1 subsystem.

1
2 • Getting Started

4. Click Load Selected Subsystem. In the Configuration section, the fields for the Inputs, Outputs, and Parameters
tables are populated with information specific to the subsystem.
5. In the Configuration section, select Linearization Options.

You can now have the app automatically calculate an equilibrium point to be used as a linearization point or you
can choose to have the model linearized about the initial point.

If you specify manual values in the Initial Conditions of a component, these will be used in the Initial Configuration
of the system. Alternatively, to calculate the equilibrium point automatically, select Equilibrium Point. Also, to
enable Baumgarte stabilization during linearization of the constraint equations, select use Baumgarte.
6. For this example, select Equilibrium Point.
7. In the Linearize section, click Linearize to generate the linearized model. In the Analysis section, you can select
and view the matrices of your linearized model (select Basic). Select Mappings to view the state, input, and output
mappings.
8. Scroll to the bottom of the app and under Create Model in the Component Name field, you can enter a custom
name for the linearized model, for example, MyMotor for this example. In the description field, you can add more
information about your model.
9. Click Create to create the linearized state-space model. A custom component with the specified component name
(for example, MyMotor) now appears in the Components palette of the Local Components tab ( ) of the DC
Motor model in MapleSim.

Creating a Custom Controller


To create a custom controller:
1. If you are not in the top level of your model, click Return to Main ( ) in the Navigation Toolbar.

2. Under the Local Components tab ( ), the MyMotor custom component is found in the Components palette.
Place the MyMotor custom component in the Model Workspace.

3. Click Add Apps or Templates ( ), and then double-click the PID Tuning entry under Control Design in the
Apps palette. The Analysis window opens with the PID Tuning app opened in the Apps tab.
4. In the Linearized Model section of the app, select the linearized model MyMotor from the drop-down list.
5. In the Controller Design section, you can select the tuning method and controller type you want to create. For this
example, design a PID controller using the modified Ziegler-Nichols (MZN) Time Domain tuning method:

From the Method drop-down menu, select Ziegler-Nichols Time Domain (MZN). From the Controller drop-
down menu, select PID. If additional information is required for your control design method, the fields below these
menus will be populated and you can enter the required information.
6. Click Design Controller.
7. Next, in the Export to MapleSim subsection, enter MyPID, and then click Export to MapleSim. A custom com-
ponent generates and exports to MapleSim.

Notes:
• You can view the Modelica® code generated for the custom component in the Modelica Code Editor.

To simulate your model using the MyPID custom component:


1. Return to your MapleSim model.
2. Select the MyMotor custom component and click Disable ( ) to exclude it from the next simulation.
3 • Getting Started

3. In the Local Components tab ( ), the MyPID custom component is found in the Components palette. Place
the MyPID custom component in the Model Workspace.

4. In the Library Components tab ( ), expand the Signal Blocks → Common menu and drag the Feedback
component in the Model Workspace.
5. Connect the components to your model, as shown below.

6. Click Run Simulation ( ) in the Main Toolbar to simulate your model. When the simulation is complete, the
following graph appears.

You can change the parameters of your controller directly in your model in MapleSim by selecting the PID controller
component and editing the parameters in the Properties tab ( ).
Index
A
apps
Control Design, 1

B
Baumgarte, 2

C
Control Design Examples, 1
Control Design help, 1
Control Design package, iv
custom controller
creating, 2

E
Equilibrium Point, 2

G
generating a linearized model, 1

L
Linearization template, 1
linearized model
generating, 1

P
PID Tuning template, 2
Probe Plots, 3

S
Simulation Graph, 3

T
templates
Linearization, 1
PID Tuning, 2

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