training tum gs simulink 13a

8/13/2019 Training TUM GS Simulink 13a

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Technische Universitt Mnchen

MATLAB and Simulink Basics

TUM Graduate School TrainingDipl.-Ing. Markus Hornauer


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TUM Graduate School

Training on MATLAB and Simulink

Outline Day 1

Introduction to MATLAB

Basics:

1) Introduction

2) MATLAB Basics3) 2D and 3D Plots

4) Data Import and Export

Advanced:

1) Programming with MATLAB

2) Graphical User Interfaces in MATLAB

Toolboxes:

1) Symbolic Math Toolbox

2) Control System Toolbox and Curve Fitting Toolbox

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TUM Graduate School

Training on MATLAB and Simulink

Outline Day 2

Simulink und Stateflow:

Basics:

1) Simulink

Basics

Continuous Models

Discrete Models

Subsystems

Signals

2) Stateflow

Advanced:

1) Libraries and Model Reference

2) Style Guidelines

3) Model Advisor

4) Report Generator and Model Comparison

5) Integrating C Code using the Legacy Code Tool6) MATLAB Coder, Simulink Coder, Embedded Coder

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Technische Universitt Mnchen

Day 2

Introduction to Simulink, Stateflow and

Code Generationbased on slides by Todd Atkins (MathWorks)

And on the book MATLAB Simulink Stateflow

(Angermann, Beuschel, Rau, Wohlfarth, Oldenburg Verlag)

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TUM Graduate SchoolTraining on MATLAB and Simulink

Outline Day 2


Basics:

1) Simulink

Basics

Continuous Models

Discrete Models

Subsystems

Signals

2) Stateflow

Advanced:


2) Style Guidelines

3) Model Advisor



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Simulink Basics

What is Simulink?6

Simulink is a software package for modeling,

simulating, and analyzing dynamical systems

Graphical programming language

Block diagram editing

Nonlinear simulation

Hybrid (continuous and discrete) models

Asynchronous (non-uniform sampling) simulation

Fully integrated with MATLAB, MATLAB toolboxes and

blocksets


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Simulink Basics

What is Simulink?7

Accurately design, implement, and test:

Control systems

Signal Processing systems

Communications systems

Embedded systems Physical systems

other Dynamic systems


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Simulink Basics

What is Simulink?8

Modeling and simulation

Multidomain Dynamic Systems

Nonlinear Systems

Continuous-time , Discrete-time, Multi-Rate systems

Plant and Controller Design

Rapidly model what-if scenarios

Communicate design ideas Embody performance specifications

Select/Optimize control architecture and parameters

Implementation

Automatic code generation

Rapid prototyping for HIL, SIL

Verification and validation


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Simulink Basics

Launching Simulink9

Starting Simulink


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Simulink Basics

Simulink Library Browser10


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Simulink Basics

Finding Blocks11


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Simulink Basics

Getting Help12

1

2

3


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Simulink Basics

Demonstration of Model Elements13


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Outline Day 2


Basics:

1) Simulink

Basics Continuous Models

Discrete Models

Subsystems

Signals

2) Stateflow

Advanced:


2) Style Guidelines

3) Model Advisor



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Simulink Continuous Systems

Modeling Continuous Systems15

Engine provides variable-step and fixed-step ODE solvers

Block Diagram representation of dynamic systems

Blocks define governing equations

Signals are propagated between blocks over time

Remeber MuPad: + b + = 0,

x 0 = 0, 0 = 1, = 10, = 1, = 10

Exercise: Create a mass-spring-damper system

in Simulink


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Algebraic Loops16

Error because of Direct Feedthrough Block input depends directly on its own output

E.g.: Gain, Product, Sum/Subtract, Transfer Fcn

Recommended solution: use Delay, Integrator or

other history related block

Alternative, but bad solution:

reduce diagnostics settings and

leave solving up to Simulink

engine (not recommended!!)

S C S


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Solver17

Solver?

Determines solution at current time step Determines the next simulation time step

Solver options: Fixed-Step

Ode1

Ode2

Ode3Ode4

Ode5

Ode8

Variable-Step

Ode45

Ode23

Ode113Ode15s

Ode23s

Ode23t

Ode23tb

Si li k C i S


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Fixed-step Solver18

Si li k C ti S t


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Variable-step Solver19

Si li k C ti S t


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Variable-step Size20

Max step size is the largest

time step that the solver

can take (auto means 50

steps)

stepstimettsizestepmx startstop

_

__

Si li k C ti S t


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Demo: Importing and Exporting Data21

Si li k C ti S t 22


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Importing Data into Simulink22

IN

Requires vector of time along with input values

input( t, u1un) defined configuration parameters

CONSTANT

Changeable on the highest hierarchy level

Tunable with parameter objects

FROM WORKSPACE

Requires vector of time along with input values

input( t, u1un) defined a workspace variable

FROM FILE Requires vector of time along with input values

input( t, u1un) defined in a given mat file

Sim link Contin o s S stems 23


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OUT

Saves all outputs together in one variable, defined in the

configuration parameters

TO WORKSPACE

Saves the output data in a variable to the workspace,

defined in the block parameters

TO FILE

Saves the output data in a .mat file


Exporting Data to MATLAB Workspace23

Simulink Continuous Systems 24


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Exchanging Data with MATLAB Workspace24

For IN and OUT blocks variables must be

defined in Configuration Parameters



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MATLAB Embedded25

Subset of MATLAB for code generation

Can be used for direct generation of

source code out of MATLAB as well as inSimulink MATLAB Function blocks

Enables user to reuse his MATLAB code

in Simulink

To call unsupported functions useeml.extrinsic or coder.extrinsic

(leads to significantly reduced

performance!!!)



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Model and Block Callbacks26



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Callback Functions27

Common tasks you can achieve by using callback functions include:

Loading variables into the MATLAB workspace automatically when you

open your Simulink model

Executing a MATLAB script by double-clicking on a block

Executing a series of commands before starting a simulation

Executing commands when a block diagram is closed

Load

Initialize

Start

Continue

Stop

Close Help => Callback Functions

Outline Day 2 28


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Outline Day 2


Basics:

1) Simulink


Discrete Models

Subsystems

Signals

2) Stateflow

Advanced:


2) Style Guidelines

3) Model Advisor



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Simulink Discrete Systems 29


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Simulink Discrete Systems

Demo: Creating a counter29

Exercise: Create a Stop Watch Combine counters to a stop watch

Show tenth seconds, seconds, minutes and hours

Reduce simulation speed to soft realtime

Simulink Discrete Systems 30


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Simulink Discrete Systems

Multirate Systems30

Systems with signals that are sampled at

different rates

Use for discrete or hybrid systems

To connect system use rate transition blocks

Specify specific sampling rate by variable ateach in and out port

Different sample times need to be an

integer multiple of the highest (global)

sampling rate

Sample Time Colors

-> fastest discrete sampling time is displayed

in red

Outline Day 2 31


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Outline Day 2


Basics:

1) Simulink


Discrete Models

Subsystems

Signals

2) Stateflow

Advanced:


2) Style Guidelines

3) Model Advisor



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Simulink Subsystems 32


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Simulink Subsystems

Subsystems32

Why? Reduce blocks displayed in a model window

Keep functionally related block together

Establish hierarchical block diagram

SimulinkSubsystems 33


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y

Creating Subsystems33

Context menu -> Create Subsystem

Subsystem ports

Inside a subsystem



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Simulink Subsystems

Atomic Subsystems34

Represent nonvirtual systems within another system

Have their own sampling rate

Have their own code generating characteristics

Have their own execution order number



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Simulink Subsystems

Masking Subsystems35

Mask - Encapsulation with a UI

Provides

Mask icon display

Block description

Parameter dialog prompt

Custom block help text

masking

mask

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Outline Day 2


Basics:

1) Simulink

2) Stateflow

Advanced:


2) Style Guidelines

3) Model Advisor

4) Report Generator and Model Comparison5) Integrating C Code using the Legacy Code Tool

6) MATLAB Coder, Simulink Coder, Embedded Coder

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Simulink Libraries and Model Reference 37


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Simulink Libraries and Model Reference

User Libraries37

Collection of reusable blocks

Prototype block vs Reference block

Propagation of changes to Library

Discard

Push

Library Links

Disable link

Restore link

Break link

Other features

Display in Simulink Library Browser

Add documentation

Simulink Libraries and Model Reference 38


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Simulink Libraries and Model Reference

Model Referencing38

One model in another-parent and referenced model

Advantages:

Componentization/Modularization

IP protection

Multiple referencing

Acceleration

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y


Basics:

1) Simulink


Discrete Models

Subsystems

Signals

2) Stateflow

Advanced:


2) Style Guidelines

3) Model Advisor



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Simulink Signals 40


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g

Vectors40

Matrix and Vector operations possible

Mux block to compose vector

Demux block to extract from signal

Increase simulation performance

Simulink Signals 41


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g

Busses

Graphical grouping of signals to a hierarchical bus signal

Bus creators to create a bus from signal and busses

Bus selector to select single signals or whole sub-busses

Bus Objects can be specified

Simulink Signals 42


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g

Simulink Model Explorer

Simulink Signals 43


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g

Simulink Data Objects

Simulink Parameter Object

>> Var = Simulink.Parameter

Simulink Signal Object

>> Var = Simulink.Signal

Simulink Bus Object

Use Bus editor

Simulink Signals 44


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Signal Logging

Signal Context

Menu

Configuration

Parameters

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Basics:

1) Simulink


Discrete Models

Subsystems

Signals

2) Stateflow

Advanced:


2) Style Guidelines

3) Model Advisor



Stateflow 46


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Demo: Flow Graph Soda Machine

Flow Graphs have no action or information in state. Everything is done on

transitions.

First condition [a>b], then action {c= 0;}

Demo: A soda machine provides coke, orange juice and water. The user enters

the corresponding number. The machine puts out a can with the drink.

Stateflow 47


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Basic Elements

Default

TransitionTransitions

Junction

ConditionAction

Terminating

Junction

Stateflow 48


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Hints

First Condition, then Action!

Double Click keeps buttonspressed

Stateflow 49


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Defining Chart Data

Stateflow 50


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Guidelines for Creating Flow Charts

The execution has only one entry point!

The execution has only one termination point!

The execution can always reach the termination point!

The flow never backtracks!

Stateflow 51


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State Charts

State charts have a internal behavior and

internal data

Actions can be performed on entry, during

residence in the state and on exit

A state can perform a self transition

A state can be either active or passive

Stateflow

C52


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Demo: Autopilot Mode Control

Stateflow

E i O d53


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Execution Order

true falseexecutes

does not execute

Stateflow

P ll l Ch t d Hi hi l Ch t54


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Parallel Charts and Hierarchical Charts

Stateflow

E i El t55


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Exercise: Elevator

States: InitialState, Stopped, Up, Down

Doors may only open when elevator is stopped

Inputs: Height, Request

Outputs: Command, Doors

Doors: close = false, open = true

Command: up = 1, down = 2, stop = 3

Height of each floor = 3

Outline Day 2

Si li k d St t fl56


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Basics:

1) Simulink

Basics

Continuous Models

Discrete Models

Subsystems

Signals

2) Stateflow

Advanced:


2) Style Guidelines

3) Model Advisor



Modeling Guidelines

I i M d l Q lit57


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Increasing Model Quality

Help => Simulink => Modeling Guidelines

Outline Day 2

Sim link nd Stateflo58


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Basics:

1) Simulink

Basics

Continuous Models

Discrete Models

Subsystems

Signals

2) Stateflow

Advanced:


2) Style Guidelines

3) Model Advisor



Model Advisor

Simulink Model Advisor59


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Simulink Model Advisor

Outline Day 2

Simulink und Stateflow:60


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Basics:

1) Simulink

Basics

Continuous Models

Discrete Models

Subsystems

Signals

2) Stateflow

Advanced:


2) Style Guidelines

3) Model Advisor



Report Generator and Model Comparison

Automatic Report Generation61


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Automatic Report Generation

Report Generator and Model Comparison

Compare XML Files62


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Compare XML Files

Outline Day 2



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Basics:

1) Simulink

Basics

Continuous Models

Discrete Models

Subsystems

Signals

2) Stateflow

Advanced:


2) Style Guidelines

3) Model Advisor



Integrating C Code using the Legacy Code Tool

Introducing S-Functions64


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Introducing S-Functions

S-Functions are used for:

Hiding information about a models content (IPR)

Speeding up simulation

Integrating external functions written in C

S-Functions can be created by Block Context Menu, by Legacy Code Tool, by

S-Function Builder or they can be written by hand (template available)

S-Functions always consist of two elements:

A .mexw32 file containing the compiled model

A S-Function Block calling the .mexw32 file

In most cases S-Function blocks are masked to increase usability

Integrating C Code using the Legacy Code Tool

Demo: Legacy Code Tool65


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Demo:Legacy Code Tool

LCT only creates a wrapper, which will be

removed at code generation

Simple way to integrate C code in Simulink

In MATLAB use cevalto integrate code

Help => Integrating Existing C

Functions into Simulink Models with

the Legacy Code Tool

Outline Day 2



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Basics:

1) Simulink

Basics

Continuous Models

Discrete Models

Subsystems

Signals

2) Stateflow

Advanced:


2) Style Guidelines

3) Model Advisor



MATLAB Coder, Simulink Coder, Embedded CoderMATLAB Coder

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MATLAB Coder


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Summary69


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Summary

Simulink is a graphical modeling environmentbased on MATLAB

Simulink is fully integrated in MATLAB environment

Simulink can be used to model continuous, discrete and hybrid sytsems

In addition, Simulink is a graphical programming language for embedded

systems

Simulink interacts with real hardware for Hardware In The Loop or

Procesoor in the Loop setups, as well as for test beds and laboratory

setups


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training tum gs simulink 13a

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