SIMULINK Dynamic System Simulation for MATLAB Using Simulink Version 3
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SIMULINK INTRODUCTION
Sadaf Anjum
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Lecture Overview
What is Simulink? How to use Simulink
Getting Start with Simulink Building a model
Example 1 (Differential Equations ) Example 2 (Transfer Function) Creating Subsystems System modeling example System Identification
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Topics
What is Simulink? How to use Simulink
Getting Start with Simulink Building a model
Example 1 (Differential Equations ) Example 2 (Transfer Function) Creating Subsystems Useful Information System Identification
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Simulink
Is a software package for modeling, simulating, and analyzing dynamic systems.
Supports linear and nonlinear systems, modeled in continuous time, sample time, or a hybrid of the two.
For modeling, it provides a graphical user interface (GUI) for building models as block diagrams (using click-and-drag mouse operations)
You can simulate, analyze the output results, explore, revise your models.
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Topics
What is Simulink? How to use Simulink
Getting Start with Simulink Building a model
Example 1 (Differential Equations ) Example 2 (Transfer Function) Creating Subsystems System modeling example System Identification
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Start a Simulink Session
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Start a Simulink Session
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Simulink Library Browser
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Create a New Model
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Topics
What is Simulink? How to use Simulink
Getting Start with Simulink Building a model
Example 1 (Differential Equations ) Example 2 (Transfer Function) Creating Subsystems System modeling example System Identification
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Building a Model
Simulink Block Diagram – clear model of a dynamic system
Each block represents an elementary dynamic system that produces an output (either continuous or discrete output)
Lines represent connections of block inputs to block outputs
u(Input)
x(states)
y(Output)
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The following steps will guide you to construct a system/model:
STEP 1: Creating Blocks
STEP 2: Making connections
STEP 3: Set Parameters
STEP 4: Running Simulation
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Step 1: Creating Blocks
Click-Drag-Drop the Sine Wave block to Workspace Window
This is the Sine Wave block is
from the Sources library
Sources library
Save this model
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Step 1: Creating Blocks
These arefrom the Sinks
library
The Gain block isfrom the
Math library
The Mux block is from the Signals &Systems library
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Step 2: Making connectionsTo make connection: left-click while holding down control key (on keyboard) and drag from source port to a destination port
A connected Model
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Gain value = 5
Name the output parameter as “out1”
Double click the Gain block to set the parameter for the Gain block
Step 3: Set Parameters
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View output via Scope block
Double click on Scope block to display output of the scopeNote: Scope block is similar to oscilloscope!
Output of the scope
Yellow: Input sine wavePurple: Output (sine wave with gain of 5
To fit graph to frame
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Three outputs show here
View output (workspace)
You can plot the output using the plot function
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Topics
What is Simulink? How to use Simulink
Getting Start with Simulink Building a model
Example 1 (Differential Equations ) Example 2 (Transfer Function) Creating Subsystems System modeling example System Identification
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Example 1:Differential Equations Example of a dynamic system:
1x Bx Kx f t
M
The Mathematical model of the system is describe by:
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2x x x f t
Lets M=2kg; B = 2 Ns/m; K=2 N/m
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Unit Step Input
Continue…
Use Simulink to simulate the step response of the system, i.e.
STEP 1: Creating Blocks
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2x x x f t
f(t), N
1
0 Time, s
Select BLOCK set Location in Simulink Library
Step Sources
Sum Math Operation
Gain Math Operation
Integrator Continuous
Scope & To Workspace Sinks
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12 2
2x x x f t
12 2
2x x x f t
STEP 2: Making connections
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Continue…Step 4 Run SimulationStep Response for system example
Output from Scope block Plot system response
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Topics
What is Simulink? How to use Simulink
Getting Start with Simulink Building a model
Example 1 (Differential Equations ) Example 2 (Transfer Function) Creating Subsystems System modeling example System Identification
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Example 2: Transfer Function Use the system example and simulate the
response using transfer function approach
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2x x x f t
2
( ) 1
( ) 2 2 2
X s
F s s s
The transfer function of the equation (assume all initial conditions =0)
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STEP 1: Creating Blocks
Select BLOCK set Location in Simulink Library
Step Sources
Transfer Function Continuous
Scope & To Workspace Sinks
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Continue… STEP 2: Making
connections
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( ) 1
( ) 2 2 2
X s
F s s s
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Step 3 set parameters
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Step 4 Run Simulation
Output from Scope blockPlot system response
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Topics
What is Simulink? How to use Simulink
Getting Start with Simulink Building a model
Example 1 (Differential Equations ) Example 2 (Transfer Function) Creating Subsystems System modeling example System Identification
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Creating Subsystems
Subsystem – similar to “Subroutine” Advantage of Subsystems:
Reduce the number of blocks display on the main window (i.e. simplify the model)
Group related blocks together (i.e. More organized)
Can create a hierarchical block diagram (i.e. you can create subsystems within a subsystem )
Easy to check for mistakes and to explore different parameters
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Create Subsystem using model in Example 1STEP 1: Creating Blocks (Main window)
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STEP 2: Double click Subsystem block and create a model in the Subsystem block
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STEP 3: Making connections (Main window)
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STEP 4: Set Parameter (Main window)STEP 5: Running SimulationThen view output response
Output from Scope block
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TOPICS
What is Simulink? How to use Simulink
Getting Start with Simulink Building a model
Example 1 (Differential Equations ) Example 2 (Transfer Function) Creating Subsystems System Modeling example System Identification
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System modeling Example.
Moment of inertia of the rotor (J) = 3.2284E-6 kg.m^2/s^2
Damping ratio of the mechanical system (b) = 3.5077E-6 Nms
Electromotive force constant (K=Ke=Kt) = 0.0274 Nm/Amp
Electric resistance (R) = 4 ohm Electric inductance (L) =
2.75E-6 H Input (V): Source Voltage
Output (theta): position of shaft
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What is Simulink? How to use Simulink
Getting Start with Simulink Building a model
Example 1 (Differential Equations ) Example 2 (Transfer Function) Creating Subsystems System modeling example System Identification
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System Identification
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Coninue…
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This is the identified model of the unknown system.
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THANK YOU…