Scribd
Upload
17 views39 pages

Simulink Practice

Uploaded by

shaukat779sd
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
17 views39 pages

Simulink Practice

Uploaded by

shaukat779sd
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 39

Introduction to Simulink

Linguaggio Programmazione Matlab-Simulink (2018/2019)


Introduction to Simulink
• Simulink is a commercial tool for modeling, simulating and
analyzing dynamic systems.
• Its primary interface is a graphical block diagramming tool
and a customizable set of block libraries.
• It offers tight integration with the rest of the MATLAB
environment and can either drive MATLAB or be scripted
from it.
• Simulink is widely used in control theory and digital signal
processing for simulation and design.
• A dynamic system may be given as a differential equation
Example: electric circuit
Example: electric circuit
Example: electric circuit
• Characteristic equation:
𝑠 2 + 4𝑠 + 3 = 0 (B.6)

• The transfer function:


3
H s = (B.7)
s2 +4s+3

• We can plug this directly in Simulink


Implementation in Simulink

Running Simulink
Implementation in Simulink
Implementation in Simulink

Simulink Library Browser


Implementation in Simulink
Implementation in Simulink

Drag&Drop
Implementation in Simulink
• From the ‘Continous’ module choose ‘Transfer Fcn’ (drag
& drop)
• From the ‘Commonly Used Blocks’ choose ‘Scope’
• Merge the blocks with arrows
• Change the ‘Transfer Fcn’ (through double click)
• Optional: change the name of the blocks (double click on
names)
Implementation in Simulink
Run simulation

Double click on
‘Scope’
Implementation in Simulink
• Change the ‘Transfer Fcn’ to 𝑠 2 + 0.1𝑠 + 10 = 0 and run
simulation

Accuracy of the solution depends on


- Solver (numerical integration algorithm)
- Step size
Implementation in Simulink
Implementation in Simulink
Implementation in Simulink

Improved accuracy!
Implementation: second method
• Simulate the same system using integrator blocks and
sum by rewriting (B.4):
𝑑 2 𝑣𝑐 𝑑𝑣𝑐
= −4 − 3𝑣𝑐 − 3 𝑢0 (𝑡) (B.7)
𝑑𝑡 2 𝑑𝑡
𝑑 2 𝑣𝑐
• The right side of (B.7) is the sum that yields !
𝑑𝑡 2
• Insert a ‘Sum’ block from the ‘Math Operations’ library (put
3 inputs)
Implementation: second method
• Simulate the same system using integrator blocks and
sum by rewriting (B.4):
𝑑 2 𝑣𝑐 𝑑𝑣𝑐
= −4 − 3𝑣𝑐 − 3 𝑢0 (𝑡) (B.7)
𝑑𝑡 2 𝑑𝑡
𝑑 2 𝑣𝑐
• The right side of (B.7) is the sum that yields !
𝑑𝑡 2
• Insert a ‘Sum’ block from the ‘Math Operations’ library (put
3 inputs)
Implementation: second method
𝑑 2 𝑣𝑐
• Rember: the sum outputs 𝑑𝑡 2
Implementation: second method
𝑑 2 𝑣𝑐
• Integrating 𝑑𝑡 2
we obtain
𝑑𝑣𝑐
𝑑𝑡

𝑑2 𝑣𝑐
𝑑𝑡 2
Implementation: second method
• Add a multiply block ‘Gain’ and set it to -4

𝑑2 𝑣𝑐
𝑑𝑡 2
Implementation: second method
• Invert the ‘Gain’ (right click on ‘Gain’, then ‘Flip Block’ or
CTRL-I)

𝑑2 𝑣𝑐
𝑑𝑡 2
Implementation: second method
• Connect with the output of the integrator

𝑑𝑣𝑐
𝑑2 𝑣𝑐 𝑑𝑡
𝑑𝑡 2
Implementation: second method
• Connect to the sum

𝑑𝑣𝑐
𝑑2 𝑣𝑐 𝑑𝑡
𝑑𝑡 2
Implementation: second method
• Integrate 𝑑𝑣𝑐
𝑑𝑡
to compute 𝑣𝑐

𝑑𝑣𝑐
𝑣𝑐
𝑑2 𝑣𝑐 𝑑𝑡
𝑑𝑡 2
Implementation: second method
• Multiply 𝑣𝑐 by -3 and insert into the sum

𝑑𝑣𝑐
𝑑2 𝑣𝑐 𝑑𝑡 𝑣𝑐
𝑑𝑡 2
Implementation: second method
• Insert the input (step function)

𝑑𝑣𝑐
𝑑2 𝑣𝑐 𝑑𝑡 𝑣𝑐
𝑑𝑡 2
Implementation: second method
• Multiply the input by 3

𝑑𝑣𝑐
𝑑2 𝑣𝑐 𝑑𝑡 𝑣𝑐
𝑑𝑡 2
Implementation: second method
• Insert the ‘Scope’ block

𝑑𝑣𝑐
𝑑2 𝑣𝑐 𝑑𝑡 𝑣𝑐
𝑑𝑡 2
Implementation: second method
• Now all the signals are inserted in the block diagram:

𝑢0 3𝑢0 𝑑𝑣𝑐
𝑑2 𝑣𝑐 𝑑𝑡 𝑣𝑐
𝑑𝑡 2
Implementation: second method
• The initial conditions are inserted by double clicking the
Integrator blocks and entering the values 0 for the first
integrator, and 0.5 for the second integrator.

𝑑𝑣𝑐
𝑢0 𝑣𝑐
𝑑𝑡
𝑑 2 𝑣𝑐
𝑑𝑡 2
Implementation: second method
• Run the simulation: the result
looks similar with the previous
Implementation!

𝑑𝑣𝑐
𝑢0 𝑣𝑐
𝑑𝑡
𝑑 2 𝑣𝑐
𝑑𝑡 2
Implementation: putting all together
• Copy and paste the first diagram in the same window:

This block do no accept


initial conditions!
Implementation: putting all together
• Add a ‘Mux’ with two inputs and a ‘Scope’.
Implementation: putting all together
• Change the initial conditions and see what happens. How
do you explain it?
Implementation: putting all together
• Change the equations, the solver and the step size:
analyze the results.
Implementation: putting all together
• Change the simulation time…
Exercise 1
• Following the same steps, simulate the following dynamic
system:
𝑑𝑥
+ 2𝑥 𝑡 = 𝑢(𝑡)
𝑑𝑡
where 𝑢(𝑡) is a square wave with an amplitude of 1 and a
frequency of 1 rad/sec and 𝑥 𝑡 is the output of the system.
To generate a Square Wave use a ‘Signal Generator’ block and
select the Square Wave form but change the default units to
radiants/sec.
• Method 1: use a single block for the transfer function
• Method 2: use an ‘Integrator’ block, a ‘Gain’ block and a ‘Sum’
block.
• What do you note in the absence of initial conditions?
• Hint: type ‘Model a Continuous System’ in the Help search of
Matlab.
Exercise 2
• For the following mass-spring-damper system, the inputs
are:
• M = 1Kg (mass)
• u = the gravity force Mg (g = 9.8)
• K = 5.0 N/m (spring constant)
• D = 0.05 Ns/m (damping coefficient)
• x(0) = 10 (initial position)
• x’(0) = 0 (initial velocity)

• Find the equation of motion x(t) and perform the simulation with Simulink.
• Optional: use a Matlab file parameters.m to set (all) the input parameters.
• Hints:
1. for the input u(t) use the step function and multiply it by 9.8.
2. The equation is:
𝑑2𝑥 𝐷 𝑑𝑥 𝐾
= − − 𝑥+𝑔
𝑑𝑡 2 𝑀 𝑑𝑡 𝑀

You might also like