Getting Started with the MapleSim Control Design Toolbox

Copyright Maplesoft, a division of Waterloo Maple Inc

Getting Started with the MapleSim Control Design Toolbox

Copyright
Maplesoft, Maple, and MapleSim are all trademarks of Waterloo Maple Inc. Maplesoft, a division of Waterloo Maple Inc. 1996-2010. All rights reserved. No part of this book may be reproduced, stored in a retrieval system, or transcribed, in any form or by any means electronic, mechanical, photocopying, recording, or otherwise. Information in this document is subject to change without notice and does not represent a commitment on the part of the vendor. The software described in this document is furnished under a license agreement and may be used or copied only in accordance with the agreement. It is against the law to copy the software on any medium except as specifically allowed in the agreement. Macintosh is a registered trademark of Apple, Inc. All other trademarks are the property of their respective owners. This document was produced using a special version of Maple and DocBook. Printed in Canada

Contents
Introduction ................................................................................................... 1 Getting Started ............................................................................................. 1.1 Getting Help .......................................................................................... 1.2 Using the MapleSim Control Design Templates ............................................ Viewing MapleSim Control Design Examples .............................................. 1.3 Example: DC Motor ............................................................................... Generating a Linearized Model .................................................................. Creating a Custom Controller ..................................................................... Index ............................................................................................................. v 1 1 1 1 2 2 3 7

iii

iv Contents

Introduction
The MapleSim Control Design Toolbox provides control design tools that extends MapleSim's plant modeling capabilities to support control design. Using a symbolic approach, you can design, analyze and test control systems. You can also use the technical documentation tools available with MapleSim, to document your design decisions. Features of this toolbox include: Model linearization Standard PID tuning techniques: Ziegler-Nichols time response, Ziegler-Nichols frequency response and Cohen-Coon Advanced PID tuning techniques: Dominant pole placement, Pole placement in a specified region, and gain and phase margin State Feedback Control: Single input pole placement (Ackermann), Multiple input pole placement, and LQR State Estimation: Single output pole placement (Ackermann), Multiple output pole placement, and Kalman filter Access to commands in the ControlDesign and DynamicSystems packages.

Scope of Model Support

MapleSim Control Design Toolbox is a very comprehensive modeling tool where it is possible to design linear controllers for models created in MapleSim. The Control Design Toolbox can linearize systems of any complexity, including systems of DAEs of any index. Systems that contain any type of discontinuity, including discrete transforms, switches, logic gates, relational and Boolean operations are not supported by the current release of this product.

vi Introduction

1 Getting Started
1.1 Getting Help
In Maple, enter ?ControlDesign at a prompt in a worksheet.

1.2 Using the MapleSim Control Design Templates

The MapleSim Control Design Toolbox provides templates in the form of a Maple worksheet for linearizing MapleSim models and creating PID controllers. These templates contain prebuilt embedded components that allow you to generate a linearized representation of your model subsystems, as well as custom components of your system controllers.

Viewing MapleSim Control Design Examples

Toolbox examples are available in the Control Design Examples palette in MapleSim.

Each example includes a linearization or PID tuning template in its Attachments palette. To view an example: 1. In the Control Design Examples palette at the left side of the MapleSim window, click the entry for the model that you want to view.

2. In the Project tab, expand the Attachments palette and then expand Documents. 3. Right-click (Control-click for Macintosh) PIDTuning and select View. The template is opened in Maple. Some models include additional documents, such as templates that display model equations or define custom components. You can open any of these documents by right- or Control-clicking its entry and selecting View.

2 1 Getting Started

1.3 Example: DC Motor

In this example, you will generate a linearized state-space model of the models you created in MapleSim. You will then use this linearized model to create and tune a PID controller.

Generating a Linearized Model

To generate a linearized model: 1. In the Control Design Examples palette, open the DC Motor - Getting Started model. 2. Click the templates button ( ) in the main toolbar.

3. From the list, select Linearization. 4. In the Attachment field, enter Linearized Motor as the worksheet name and click Create Attachment. Your MapleSim model is opened in the Linearization and Analysis Template in Maple. 5. Using the navigation controls above the model, browse to the DC Motor subsystem.

6. Click System Update. The Model Summary fields are populated with information specific to the subsystem.

1.3 Example: DC Motor 3

You can now specify the equilibrium points manually or have Maple automatically calculate them for you. 7. To manually specify the equilibrium values of the state and input variables, select the variables from the drop-down menu and enter the appropriate values. Alternatively, to calculate the equilibrium point automatically, click the Compute Equilibrium Point button. Note: If the system state and input variables are already at equilibrium, an error message will appear warning the user that it cannot get a valid equilibrium point. In general, the user may want to perturb the values slightly to check if the equilibrium point is valid. In this example, the system's default values are already at the equilibrium point. Ignore the message and proceed to the next step. 8. Click the Linearize/Generate State Space button to generate the linearized model. The Variable Map and Linearized Model fields are automatically updated. You can now select and view the state, input, and output mappings in the Variable Map fields. In the Linearized Model field, you can select and view the matrices of your linearized model. 9. Scroll to the bottom of the template. 10. In the Name field, enter MyMotor. The description field shows a detailed summary of your model description. You can add more information about your model in this area. 11. Click Save to create the linearized state-space model. The file MyMotor.msys will now appear in the Attachments palette in MapleSim. 12. Close the MapleSim Linearization and Analysis Template and return to the DC Motor model in MapleSim.

Creating a Custom Controller

To create a custom controller: 1. Click the templates button ( ) in the main toolbar.

2. From the list, select PID Tuning. 3. In the Attachments field, enter Motor PID as the worksheet name and click Create Attachment. Your MapleSim model is opened in the PID Tuning Template in Maple. 4. In the Model Input from an .msys File section of the template, select MyMotor.msys from the drop-down list. The Name, Description, and matrix fields are automatically populated.

4 1 Getting Started

5. Click Assign to Variable to create a DynamicSystems object and assign it to a variable name for further manual analysis. In the Controller Design section of the template, you can select the method and controller type you wish to create. For this example, create a Ziegler-Nichols Time Domain PID controller. 6. From the Method drop-down menu, select Ziegler-Nichols Time Domain (MZN). From the Controller drop-down menu, select PID. If additional information is required for your control design method, the fields below these menus will be populated and you can enter the required information. 7. In the field below the table with controller parameters, enter MyPID and then click the Export to MapleSim button. A custom component is generated and exported to MapleSim. 8. Optionally, you can view the Modelica code generated for the custom component by expanding the Modelica text area. To analyze properties, you can use the plotting tools, such as Zero pole, Bode, Step Response, and Nyquist in the Analysis section of the template. 9. Return to your model in MapleSim. 10. In the Project tab, expand the Definitions palette. The custom component MyPID is displayed. 11. Drag the custom component from the palette to add it to your model. 12. In the Libraries tab, expand the Signal Blocks > Common menu and drag Feedback and Step signal components into the model workspace. 13. Connect the components to your model, as shown below.

1.3 Example: DC Motor 5

14. Click the probe button ( ) in the toolbar and then click the connection line between the DC Motor and Feedback component. 15. Click the probe once to position it. 16. In the Inspector tab, select Real. 17. Click the simulation button ( ) in the main toolbar to simulate your model.

You can change the parameters of your controller directly in your model in MapleSim by selecting the PID controller component and editing the parameters in the Inspector tab.

6 1 Getting Started

Index
C
Control Design Examples Palette, 1 Control Design help, 1 creating a custom controller, 3 custom controller creating, 3

G
generating a linearized model, 2

L
Linearization template, 2 linearized model generating, 2

P
PID Tuning template, 3

T
templates Control Design, 1

8 Index