Palestine Polytechnic University

Workshop
Matlab/Simulink in Drives
and Power Electronics
Lecture 1 : Introduction to Matlab

Ghislain REMY Jean DEPREZ

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Workshop Program
• 8 lectures will be presented based on Matlab/Simulink :
– 1 Introduction to Matlab
– 2 Introduction to Simulink
– 3 DC-Motor Control design
– 4 DC-Motor Chopper design SimPowerSystems
– 5 Introduction to Stateflow/Statechart
– 6 Induction Motor Inverter Control
– 7 Synchronous Motor Modeling
– 8 Synchronous Motor Control
• Two system applications (four quadrants electric drives of
mechanical systems) will be used as "conducting lines" during
the workshop.

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Drives and Power Systems

• Presentation of the Structure of Industrial Drives and Power
Systems
– DC-Motor, Synchronous and Induction Motors
– Large applications domain
– Power Electronics (IGBT, MOSFET…)
– Classical Control Algorithm (Cascaded
Control Loop, Scalar and Vector Control…)

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System applications:
Four quadrants electric drives of mechanical systems

1- ELEVATOR

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0 .3 F _ R O T 1 .T O R Q U

0 .2

0 .1

-0 .1

-0 .2

-0 .3
-1 5 -1 0 -5 0 5 10 1 5M A S S _ R O T 1 .O

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2- ARM of ROBOT

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Design of Mechatronics System

• Model-based design  Simulation of the system is essential
• Multi-domain modeling (Mechanical, ElectroChemical, Thermal ,
Controls, Hydraulic, Electrical, Magnetic, Pneumatic…)

 Matlab/
Simulink
is a very
good tool
for this kind
of approach.

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Matlab: General Presentation

• MATLAB environment integrates numerical calculation, advanced plot
function, visualization and an advanced programming language.
• MATLAB Product Family is composed of Toolboxes:
– Data-mining and Visualization ;
– Numerical and Symbolical Calculation;
– Modeling and Simulation ;
– Programming, Software and Graphical User Interface Design;
– Automatic conversion of MATLAB programs in C, C++ code.
The Toolboxes are advanced library of MATLAB functions
designed to bring solutions in applications.
They are written in MATLAB language with accessible source,
useful for develop your own algorithm.

Last version is
R2009a

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Presentation of the Matlab Software

• Interface Presentation
Editor
Calculation
principles
Matrices

Workspace Figures

Variables
Editor

Command Window
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Select a Current Directory for MATLAB

• In the Command Window, type :
cd d:\Workshop\Ex01
So the Current Directory is changed in:
D:\Workshop\Ex01 Current Directory
Avoid in folder and file names:
• Blank space;
• Long name;
• Special symbol.

Verify the current directory using:

cd or pwd
-> MATLAB shows the folder name

Command Window
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Variables and Workspace

• MATLAB works using variables defined as :
scalar or vector or array or structure.
• The Variable names must respect the following rules:
– Maximum of 31 characters;
– The 1st character must be a letter;
– MATLAB differentiate majuscule from minuscule.
• Variables are saved in the Workspace
• It is not necessary to type or define variables.
– Amp = 1; adds automatically an Amp variable
• Variables are kept until explicit erase order, like:
– clear deletes all variables
– clear A B deletes A and B variables only
• Control whos et who show a list of current variables

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Data Manipulation
• Data are managed using a vector representation, using an
Array type
• Some examples:
• A line vector is defined using: A = [1 2] or A = [1,2] A=
a space or , are used to change of column 1 2

• A row vector is defined using: B = [3;4] B=

3
; is used to change of line
4
• Transpose symbol: B = [3 4]’ B=
‘ is used to transpose a vector 3
4

• To include B inside C: C = [B [-1;5]] C=

3 -1
4 5
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Matrix Manipulation
• To multiply matrix A by a matrix B of the same size: A.*B
Examples : with A = [1 2]; B = [3 4]; A= 1 2 B=3 4
A.*B  3 8 (= 1*3 2*4) term to term product
• To multiply matrix A by a constant
A.*5  5 10 (= 1*5 2*5)
• To do a scalar product of matrix A by a matrix B :
A*B’ 11 (= 1*3 + 4*2)
• To do a concatenation
[A B]  1 2 3 4

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Data retrieval of a Matrix

• To access to all columns of the x row: Matrix(x,:)
• To access to all rows of the y column: Matrix (:,y)
• To access to the x row of the y column: Matrix (x,y)
Examples :
>> C=[ 1 2 ; 3 4]
C=
1 2
3 4

>>C(:,1) >> C(2,:) >> C(2,1)

ans = ans = ans =
1 3 4 3
3

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Ex 1: Speed Reference Definition

• Obj: Add a v_ref variable with the following profile:
|v|
• Time is a discrete signal 1.4 m.s-1
with a fixed step size:
t

• time = t_init : t_step_size : t_final T1=3s T2=5 s

Examples: t = 0:1:10
time =
Columns 1 through 11
0 1 2 3 4 5 6 7 8 9 10

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The Plot function:

• plot(x1,y1,’s1’,x2,y2,’s2’, …)
– x : table of the x-axis values
– y : table of the y-axis values
– s : character string:
• The colors
• The line types
• The plot symbols
• The syntax is the same
using the semilogx,
semilogy, loglog command
plot(x,y,'m*:'); %plots a magenta dotted line with a star at
each data point
plot(x,y,'rs'); % plots a red square at each data point, but
does not draw any line because no line was selected
plot(x,y,'rs−'); % connects the data points with a solid line

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Examples of Plot functions and options

Three−phases waveforms
PLOT(X,Y) plots vector Y versus vector X.
If X or Y is a matrix, then the vector is
plotted versus the rows or columns of the
matrix, whichever line up. If X is a scalar
and Y is a vector, disconnected line objects
are created and plotted as discrete points
vertically at X.

x=linspace(0, 2*pi, 60);

PLOT(Y) plots the columns of Y versus
% pi is a built−in function in MATLAB; their index.
% we could have used x=0:0.02*pi:2*pi
or x = (0: 0.02: 2)*pi instead; If Y is complex, PLOT(Y) is equivalent to
y=sin(x); u=sin(x+2*pi/3); v=sin(x+4*pi/3); PLOT(real(Y),imag(Y)).
% The x−axis must be specified for each function
plot(x,y,x,u,x,v);
% Turn grid and axes box on In all other uses of PLOT, the imaginary
grid on; box on; part is ignored.
text(0.75, 0.65, 'sin(x)');
text(2.85, 0.65, 'sin(x+2*pi/3)');
text(4.95, 0.65, 'sin(x+4*pi/3)')
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To Plot a function: a detailled procedure

t = 0 :200e-6 :50e-3 ; % definition of a time vector
w = 314 ;
plot(t,sin(w*t)) ; % show the plot of sin(wt)
hold on ; % avoid to erase previous plot
plot(t,0.8*sin(w*t-pi/3),’--’)

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Modification of a figure
• The figure properties can be modified using the button:
Edit Plot
Then, selection can be
made using left clicking
on the figure:
Line, Axis, Background…
And can be modified
by selecting:
Show Property Editor

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Some other Matlab commands

• Previous command can be recall by using :
– the up and down arrows of the keyboard
– Type one or more characters and then use the up or down arrow to
recall only the command starting with the typed characters
• Example: if a plot function have been already used
you can recall it by typing ‘pl’ then pushing the up arrow.
path List the known directory in MATLAB
help plot Help on the ‘plot’ function
type fichier Show the content of an ASCII File
whos, who List all the variables of the Workspace
clear Clear all the variables of the Workspace
!, dos Give an access to the Operating System (OS)
cd, dir, mkdir Command of the OS available in MATLAB
exit, quit End of the MATLAB session

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The m-file
• Previous commands used in the Command Window can be re-
used in a text file : the “m-file” (due to the .m extension)

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To create a function
• To create a function toto returning a variable z calculated from
two parameters x and y:
z = toto(x,y);
• Create m-file with the name toto.m:
function f=toto(u,v)
f=u+3*v^2
• Call this function
z=toto(2,3)
ans=
29

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