Introduction to Simulink
Presentation Outline
What Basic
is Simulink? operations with Simulink
Examples Exercise
What is Simulink?
Simulink is an interactive tool for modeling, simulating and analyzing dynamic systems. systems. Simulink integrates seamlessly with MATLAB, providing immediate access to an extensive range of analysis and design tools tools. . Simulating a dynamic system is a twotwo-step process with Simulink: Simulink:
create a model of the system to be simulated using
Simulinks model editor (BLOCK DIAGRAM)
use Simulink to simulate the behavior of the system for
a specified time span
Launch Simulink
First launch MATLAB MATLAB. . To open Simulink, type simulink at the MATLAB
command window or click on the Simulink icon on the MATLAB toolbar. toolbar.
Simulink Block Libraries
Simulink provides a library browser that allows you to select blocks from libraries of standard blocks: blocks: Continuous - blocks that
describe linear functions Discrete - blocks that describe discrete-time components Functions & Tables general functions and table look-up operations Math - blocks that describe general mathematics functions
Simulink Block Libraries
Nonlinear - blocks that describe nonlinear functions Signal & systems - blocks that allow multiplexing, de-multiplexing, implement external input/output, pass data to other parts of the model, create subsystems and perform other functions Sinks - blocks that display or write block output Sources - blocks that generate signals Blocksets and toolboxes - the extras block library of specialized blocks
Creating a New Model
Click the newnewmodel icon in the upper left corner to start a new Simulink file Select the Simulink icon to obtain elements of the model
Your Workspace
Library of elements Model is created in this window
Show/hide Library Browser
Block Diagram
A Simulink block diagram is a pictorial model of a dynamic system. system. It consists of blocks interconnected by lines. lines. Blocks represent elementary dynamical systems that Simulink knows how to simulate. simulate. A block comprises one or more of the following: following:
A A A
set of inputs. set of states. set of outputs.
To introduce blocks in your model, choose the block from the library, click on it and drag it in your model. model . Double clicking on the block will allow you to change the block parameters. parameters.
Model Execution Phase
In this phase Simulink successively computes the states and the outputs of the system at intervals from the simulation start time to the stop time, using information provided by the model. model. Time steps - successive time points at which the states and the outputs are computed. computed. Step size - the length of time between steps. steps. It depends on the type of solver solver: :
Fixed-step - a smaller step size produces a more Fixedaccurate simulation but results in a longer execution time time. .
Model Execution Phase
Variable step - depending on the application, it can produce more accurate results without sacrificing execution speed speed. .
Parameters set up: up: Simulation > Simulation parameters Simulink simulates a system when you choose start from the model editors simulation menu. menu.
Example 1: a Simple Model
Build a Simulink model that solves the differential equation
x ! 3 sin 2t
Initial condition
x (0) ! 1.
First, sketch a simulation diagram of this mathematical model (equation) (3 min. min.)
Simulation Diagram
Input is the forcing function 3sin(2 sin(2t) Output is the solution of the differential equation x(t)
x (0) = -1 . x
3sin(2t) (input)
1 s integrator
x(t) (output)
Now build this model in Simulink
Select in Input Block
Drag a Sine Wave block from the Sources library to the model window
Select an Operator Block
Drag an Integrator block from the C Cont ontinuous library to the model window
Select an Output Block
Drag a Scope block from the Sinks library to the model window
Connect Blocks with Signals
Place your cursor on the output port (>) of the sine wave block Drag from the sine wave output to the integrator input Drag from the integrator output to the scope input Arrows indicate the direction of the signal flow.
Select Simulation Parameters
Double-click on Doublethe Sine Wave block to set amplitude = 3 and freq = 2 This produces the desired input of 3sin(2t 3sin(2 t)
Select Simulation Parameters
Double-click Doubleon the I Inte ntegrator block to set initial condition = -1 This sets our IC x(0) = -1.
Run the Simulation
In the model window, from the Simulation pullpull -down menu, select Start
Double-click on Doublethe Scope to view the simulation results
Simulation Results
To verify that this plot represents the solution to the problem, solve the equation analytically.
The analytical result,
3 x (t ) ! 1 2 2 cos 2t
matches the plot (the simulation result) exactly.
Example 2
Build a Simulink model that solves the following differential equation
m x cx kx ! f (t )
2ndnd-order massmass-springspring-damper system Zero ICs Input f(t) is a step with magnitude 3 Parameters: arameters: m = 0.25, 25, c = 0.5, k = 1 m->mass; >mass; c->damping factor; tor; k->spring constant
Example 2
k m x f (t)
Create the Simulink Diagram
On the following slides slides: :
The simulation diagram for solving the ODE is created step by step. step. After each step, elements are added to the Simulink model. model.
Optional exercise: exercise: first, complete diagram (5 min. min.).
sketch
the
Create the Block Diagram
First, solve for the term with highesthighestorder derivative
x ! f (t ) cx kx
Make the leftleft-hand side of this equation the output of a summing block
.. mx
summing block
Drag a Sum block from the Math library
Doubleble-click to change the block parameters to rectangular and + - -
Create the Block Diagram
Add a gain (multiplier) block to eliminate the coefficient and produce the highesthighest-derivative alone
.. mx
summing block
1 m
.. x
Drag a G Ga ain block from the Math library
The gain is 4 since 1/ 1/m m = 4.
Double-click to change Doublethe block parameters. Add a title.
Create the Block Diagram
Add
integrators to obtain desired output variable
the
x
summing block
x
1 s
x
1 s
Drag Integrator blocks from the Continuous library
ICs on the integrators are zero. Add a scope from the Sinks library. brary. Connect output ports to input ports. s. Label the signals by doubleble-clicking on the leader line e. .
Create the Block Diagram
Connect to the integrated signals with gain blocks to create the terms on the rightright -hand side of the equation
m x
summing block
1 m
x
cx
1 s
c
x
1 s
kx
Drag new Gain blocks from the Math library
To flip the gain block, select it and choose Flip Block in the Format pullpulldown menu or doubledouble-clock on it.
c = 0.5
DoubleDouble-click on gain blocks to set parameters Connect from the gain block input backwards up to the branch point. Re Re-title the gain blocks.
K = 1.0
Complete the Model
Bring all the signals and inputs to the summing block. block. Check signs on the summer. summer.
f(t) input
+ -
m x
1 m
x
cx
1 s
c
x x
k
1 s
x(t) output
kx
Drag the Step function from the Source library
Double-click on Step block Doubleto set parameters. For a step input of magnitude 3, set Final value to 3
Final Simulink Model
Run the Simulation
Results
Underdamped response. Overshoot of 0.5. Final value of 3. Is this expected?
Checking Results
Standard form
x k
c 1 x x ! f (t ) k k
Natural frequency
k [n ! ! 2.0 m
Damping ratio
2^ c ! p ^ ! 0.5 [n k
1 K ! !1 k
Static gain
Checking Results
Damping ratio of 0.5 is less than 1:
Expect the system to be underdamped. Expect to see overshoot.
Static gain is 1:
Expect output magnitude to equal input magnitude. Input has magnitude 3, so does output.
Simulation results conform to expectations
Saving to Workspace
Drag the To Workspace block from the Sink library
Saving to Workspace
Double click on the To Workspace block to change the parameters. parameters.
Check on MATLAB workspace if the variable is there. Example: plot (tout, x); y = sqrt (x )
Inserting a SS-Function
Drag a S-Function block from the Functions & Tables library
Inserting a SS-Function
Double click on the SFunction block to change the S-Function name and include additional parameters.
Use the template that comes with Simulink. Change the template based on your project.
Inserting a SS-Function
Type sfundemos at the MATLAB command line line. . Double click on M-files Double click on M-file S-Function Template Save the file in another folder and with another name Change the function name: e:
function [sys,x [sys,x0 0,str,ts]=s ,str,ts]=sfungains ungains(t,x,u, (t,x,u,flag)
Inserting a SS-Function
Change the S-Function size parameters: parameters:
sizes = simsizes; simsizes; sizes.NumContStates = 0; sizes. sizes. sizes .NumDiscStates = 0; sizes. sizes .NumOutputs = 2; sizes. sizes .NumInputs = 0; sizes. sizes .DirFeedthrough = 0; sizes. sizes .NumSampleTimes = 1; % at least one sample time is
needed
sys = simsizes(sizes); simsizes(sizes);
Inserting a SS-Function
Edit the mdlOutputs m-function in accordance to your project: project:
function sys=mdlOutputs(t,x,u) K1 = 50 50; ; K2 = 20 20; ; sys = [K1 K2];
Inserting a SS-Function
Drag a Demux block from the Signals & Systems library
Inserting a SS-Function
Drag Display blocks from the Sink library Run your project
Exercise
Given the following block diagram:
K3 + u K1 + _
K2 K5
K4
+ +
Exercise
1) Show the correspondence of this block diagram with the RC circuit simulated in Assignment #1 (analytically). (analytically) . 2) Find K1, K2, K3, K4 and K5 in accordance to the parameters of Assignment #1. 3) Implement the system in Simulink. Simulink. Use MATLAB to enter your parameters through a Mfile. file . 4) Simulate your system in Simulink and compare the response with your expected results results. . 5) K3 is related to the initial conditions. conditions. Incorporate I.C. in your integrator block. block.
