Application Software Course Control & Simulink

Application Software Course Control & Simulink

اسلاید 1: 1Application Software CourseControl&SimulinkBy: Mahdi Akbari09,Novemberwww.elecdl.com

اسلاید 2: Roots>> roots([1,2,3,4,5,6])ans =0.5517+ 1.2533i0.5517- 1.2533i-1.4918-0.8058+ 1.2229i-0.8058- 1.2229i2

اسلاید 3: 3Symbolic MathematicSym: Create symbolic object>> x=sym(’x’)Syms: Shortcut for creating multiple symbolic objects>> syms x,y

اسلاید 4: 4Symbolic Mathematic

اسلاید 5: 5>> syms s >> f = (5*s^2 + 3*s +6)/(s^4 + 3*s^3 + 7*s^2 + 9*s +12); >> ilaplace(f ) Example

اسلاید 6: Transfer Functions>> num=[1,5];>> den=[1,2,3,4,5];>> G=tf(num,den)6

اسلاید 7: 7Transfer Functions>> den=conv(conv(conv([1,3,1],[1,3,1]),[1,6]),[1,6,5,3]);>> num=6*[1,5];>> G=tf(num,den)

اسلاید 8: Transformation of System Model (Steady State)>> G=ss(A,B,C,D)8

اسلاید 9: Example9>> A=[2.25, -5, -1.25, -0.5; 2.25, -4.25, -1.25, -0.25; 0.25, -0.5, -1.25,-1; 1.25, -1.75, -0.25, -0.75];>> B=[4, 6; 2, 4; 2, 2; 0, 2];>> C=[0, 0, 0, 1; 0, 2, 0, 2];>> D=zeros(2,2); >> G=ss(A,B,C,D)

اسلاید 10: 10Transformation of System Model[A, B, C, D] = tf2ss (num, den)[num , den] = ss2tf (A, B, C, D)

اسلاید 11: Zero-pole-gain Description>> KGain=6;>> Z=[-1.9294; -0.0353+0.9287j; -0.0353-0.9287j];>> P=[-0.9567+1.2272j; -0.9567-1.2272j; 0.0433+0.6412j; +0.0433-0.6412j];>> G=zpk(Z,P,KGain)11

اسلاید 12: 12step responses>> step (num,den)>> step (A,B,C,D) for find: MP Rise time Fall time Over shoot

اسلاید 13: Form 3:>> [y,x,t] = step (num,den,t)>> plot(t,y)13

اسلاید 14: 14impulse responsesFor impulse responses: R(s)=1Step ( s G(s) )

اسلاید 15: impulse responses>> impulse (num, den)15

اسلاید 16: Ramp responsesStep ( G(s)/S )16

اسلاید 17: 17Feedback>> Gt=feedback(G,H)>> syms g1 g2 % declare symbolic variables>> Gt=feedback(g1,g2,±1); %Defult: negative feedback>> pretty(Gt)

اسلاید 18: Example:>> G1=tf(1,[1,2,1]);>> G2=tf(1,[1,1]);>> G=feedback(G1,G2) %for negative feedback>> G=feedback(G1,G2,+1) % for positive feedback18

اسلاید 19: 19>>[r, p, k] = residue(num, den)

اسلاید 20: 20Root Locus Plots[r, k] = rlocus (num, den)[r, k] = rlocus (num, den, k)[r, k] = rlocus (A, B, C, D)[r, k] = rlocus (A, B, C, D, K)

اسلاید 21: 21Example >> num = [0 0 0 1];>> den = [1 5 9 0];>> rlocus(num, den);

اسلاید 22: 22Bode Diagramsbode(num, den)bode(num, den, W)bode(A, B, C, D) (3.36)bode(A, B, C, D, W)[mag, phase, w] = bode (num, den)[mag, phase, w] = bode (num, den, w)[mag, phase, w] = bode (A, B, C, D)[mag, phase, w] = bode (A, B, C,D, w) [mag, phase, w] = bode (A, B, C, D, iu, w)

اسلاید 23: 23Example >> %Bode diagram>> num= [29.125 33.2025 9.4627];>> den= [0 1 0];>> bode (num, den)

اسلاید 24: 24Nyquist Plotsnyquist (num, den, w)nyquist (A, B, C, D)nyquist (A, B, C, D, w)nyquist (A, B, C, D, iu, w)[re, im, w] = nyquist (num, den)[re, im, w] = nyquist (num, den, w)[re, im, w] = nyquist (A, B, C, D)[re, im, w] = nyquist (A, B, C, D, w)[re, im, w] = nyquist (A, B, C, D, iu, w)

اسلاید 25: 25Example >> z = [– 1 – 3 + 7*i – 3 – 7*i];>> p = [– 1 – 3 – 5 – 3 + 7*i – 3 – 7*i];>> k = 30;>> nyquist (num, den)

اسلاید 26: 26What Is Simulink? Simulink is a software package for modeling, simulating, and analyzing dynamical systems. It supports linear and nonlinear systems, modeled in continuous time, sampled time, or a hybrid of the two.

اسلاید 27: 27How to open simulinkClick on this item

اسلاید 28: 28create a modelTo create the model, first type simulink in the MATLAB command window. On Microsoft Windows, the Simulink Library Browser appears.

اسلاید 29: 29Open new windowSimulink opens a new model window.Click on New Model button

اسلاید 30: 30Model Editor

اسلاید 31: 31View Command HistoryBack =(Displays the previous view in the view history.Forward )forward=( Displays the next view in the view history.Go To Parent )Go To Parent=Opens, if necessary, the parent of the current subsystem and brings its window to the top of the desktop.

اسلاید 32: 32Building a Simple ModelThis example shows you how to build a model using many of the model buildingcommands and actions you will use to build your own modelsThe model integrates a sine wave and displays the result, along with the sine wave. The block diagram of the model looks like this

اسلاید 33: 33Create example modelTo create this model, you will need to copy blocks into the model from the following Simulink block libraries:Sources library (the Sine Wave block)Sinks library (the Scope block)Continuous library (the Integrator block)Signals & Systems library (the Mux block)

اسلاید 34: 34first expand the Library Browser tree to display the blocks in the Sources library. Do this byclicking first on the Simulink node to display the Sources nodeSources node to display the Sources library blocks. Finally right click on the Sine Wave node to select the Sine Wave

اسلاید 35: 35Copy the rest of the blocks in a similar manner from their respective libraries into the model window

اسلاید 36: 36With all the blocks copied into the model window, the model should looksomething like this.Now it’s time to connect the blocks.Hold down the mouse button and move the cursor to the top input port of the Mux block. Notice that the line is dashed while the mouse button is down and that the cursor shape changes to double-lined cross hairs as it approaches the Mux block.

اسلاید 37: 37Now release the mouse button. The blocks are connectedPress and hold down the Ctrl key. Press the mouse button, then drag the pointer to the Integrator block’s input port or over the Integrator block itself.

اسلاید 38: 38Finish making block connections. When you’re done, your model should look something like this.

اسلاید 39: 39

اسلاید 40: 40Now, open the Scope block to view the simulation output. Keeping the Scopewindow open, set up Simulink to run the simulation for 10 seconds. the simulation parameters by choosing Parameters from the Simulation menu. On the dialog box that appears notice that the Stop time is set to 10.0(its default value)

اسلاید 41: 41Choose Start from the Simulation menu and watch the traces of the Scope block’s input.

اسلاید 42: 42Model Viewing Shortcuts

اسلاید 43: 43Zooming Block DiagramsSelect Zoom In from the View menu (or type r) to enlarge the view.Select Zoom Out from the View menu (or type v) to shrink the view.Select Fit System To View from the View menu (or press the space bar) to fit the diagram to the view.Select Normal from the View menu (or type 1) to view the diagram at actual size.

اسلاید 44: 44colorsSimulink allows you to specify the foreground and background colors of any blockselect Screen color from the Simulink Format menu

اسلاید 45: 45Connecting BlocksConnecting Two Blocks To auto connect two blocks: Select the source block.Hold down Ctrl and left-click the destination block.Simulink connects the source block to the destination blockWhen connecting two blocks, Simulink draws as many connections as possible between the two blocks as illustrated in the following example.

اسلاید 46: 46Connecting Groups of Source BlocksSimulink can connect a group of source blocks to a destination block or a source block to a group of destination blocks.To connect a group of source blocks to a destination block:Select the source blocks.Hold down Ctrl and left-click the destination block.

اسلاید 47: 47connect a source block to a group of destination blocksSelect the destination blocks.Hold down Ctrl and left-click the source block.

اسلاید 48: 48Moving a Line SegmentTo move a line segment:Position the pointer on the segment you want to move.Press and hold down the left mouse button.Drag the pointer to the desired location.

اسلاید 49: 49Inserting Blocks in a LineTo insert a block in a line:Position the pointer over the block and press the left mouse button.Drag the block over the line in which you want to insert the block.Release the mouse button to drop the block on the line.Simulink inserts the block where you dropped it.

اسلاید 50: 50Disconnecting BlocksTo disconnect a block from its connecting lines, hold down the Shift key, then drag the block to a new location.

اسلاید 51: 51Creating SubsystemsAs your model increases in size and complexity, you can simplify it by grouping blocks into subsystems. Using subsystems has these advantages:It helps reduce the number of blocks displayed in your model window.It allows you to keep functionally related blocks together

اسلاید 52: 52Creating a Subsystem by Adding the Subsystem BlockTo create a subsystem before adding the blocksCopy the Subsystem block from the Ports & Subsystems library into your model.Open the Subsystem block by double-clicking it.In the empty Subsystem window, create the subsystem.For example, the subsystem shown includes a Sum block and inport and Outport blocks to represent input to and output from the subsystem.

اسلاید 53: 53Creating a Subsystem by Grouping Existing BlocksIf your model already contains the blocks you want to convert to a subsystem, you can create the subsystem by grouping those blocks:Enclose the blocks and connecting lines that you want to include in the subsystem within a bounding box. You cannot specify the blocks to be grouped by selecting them individually or by using the Select All command.Choose Create Subsystem from the Edit menu.If you open the Subsystem block, Simulink displays the underlying system, as shown below.