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.