Hardware-in-the-Loop(HIL)Simulation Continuoussystems Essentials Introduction Contents

Introduction to Simulink

Mariusz Janiak p. 331 C-3, 71 320 26 44

2015 Mariusz Janiakc All Rights Reserved

Contents

1 Introduction

2 Essentials

3 Continuous systems

4 Hardware-in-the-Loop (HIL) Simulation

Introduction

Simulink is a block diagram environment for multidomain simulation and Model-Based Design. It supports simulation, automatic code generation, and continuous test and verification of embedded systems.¹

Graphical editor

Customizable block libraries

Solvers for modeling and simulating dynamic systems Integrated with Matlab

Web page

www.mathworks.com

1 The MathWorks, Inc.

Introduction

Simulink capabilities

Building the model (hierarchical subsystems) Simulating the model

Analyzing simulation results Managing projects

Connecting to hardware

Introduction

Alternatives to Simulink

Xcos (www.scilab.org/en/scilab/features/xcos) OpenModelica (www.openmodelica.org)

MapleSim (www.maplesoft.com/products/maplesim) Wolfram SystemModeler

(www.wolfram.com/system-modeler)

Introduction

Model based design with Simulink Modeling and simulation

Multidomain dynamic systems Nonlinear systems

Continuous-, Discrete-time, Multi-rate systems Plant and controller design

Rapidly model what-if scenarios Communicate design ideas

Select/Optimize control architecture and parameters Implementation

Automatic code generation Rapid prototyping for HIL, SIL Verification and validation

Essentials

Working with Simulink Launching

Simulink Library Browser Finding Blocks

Getting Help

Context sensitive help Simulink documentation Demo

Working with a simple model Changing block parameters Labeling blocks and signals Running a simulation

Defining parameters with MATLAB variables Saving/opening a model

Essentials

How Simulink works

Engine provides variable- and fixed-step ODE solvers Block diagram representation of dynamic systems Blocks define “governing” equations

Signals are propagated between blocks over time Solvers

Fixed-step: ode1, ode2, ode3, ode4, ode5, ode8

Variable-step: ode45, ode23, ode113, ode15s, ode23s, ode23t, ode23tb

Essentials

Subsystems

Reduce blocks displayed in a model window Keep functionally related block together Establish hierarchical block diagram Creating

Context menu → Create subsystem Subsystem ports

Exploring subsystems Undo subsystem

Essentials

Model Referencing

Reuse models as blocks in other models

Include one model in another by using a Model block

Organize large models hierarchically, similar to using subsystems Advantages

Modular development Inclusion by reference Incremental loading Accelerated simulation Incremental code generation Independent configuration sets

Continuous systems

System

x⁰(t) = 3x(t) + u(t)

Time-domain representation using integrator block

Frequency-domain representation using transfer function block sX(s) = 3X (s) + U(s)

(s − 3)X (s) = U(s) G(s) = X(s)

U(s) = 1 (s − 3)

Hardware-in-the-Loop (HIL) Simulation

Hardware-in-the-loop (HIL) simulation is a technique for validating your control algorithm, running on an intended target controller, by creating a virtual real-time environment that represents your physical system to control. HIL helps to test the behavior of your control algorithms without physical prototypes.²

2 The MathWorks, Inc.

Hardware-in-the-Loop (HIL) Simulation

Where is HIL simulation used?

1 When testing your control algorithm on the real physical system is costly or dangerous

2 Aerospace and defense: Flight simulators and flight dynamic control, where it is too complex to test the control algorithm on the actual aircraft

3 Automotive: Vehicle dynamics and controls, where it is impractical to test the functionality on the road in the initial phases

4 Industrial automation: Controller-plant testing, when stopping the production or assembly line to test control algorithms involves a huge amount of resources and business loss

Hardware-in-the-Loop (HIL) Simulation

Hardware-in-the-Loop (HIL) Simulation

How does HIL simulation work?

1 Create and simulate a virtual real-time implementation of physical components such as a plant, sensors, and actuators on a real-time target computer.

2 Run the control algorithm on an embedded controller and run the plant or environment model in real time on a target

computer connected to the controller. The embedded controller interacts with the plant model simulation through various I/O channels.

3 Refine software representations of your components and gradually replace parts of the system environment with the actual hardware components.

Hardware-in-the-Loop (HIL) Simulation

The End

Thank you for your kind attention.