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NI Platform for Control

Control Design &

Simulation Module MathScript RT Module System ID Toolkit

LabVIEW Real-Time LabVIEW FPGA

cRIO, sbRIO PXI Desktops & SBC’s

Targets

Digital Filter

Design Toolkit VeriStand Statechart Module

LabVIEW C Generation

32-bit mp

LabVIEW Development Environment

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LabVIEW Control Design Easily create interactive control

design and analysis VIs

Use both textual .m file and graphical approach

Model construction, conversion and reduction

Time and frequency response

Dynamic characteristics

Classical control design including analytical PID

State-space control and estimation - LQR, LQG, Model Predictive Control, Kalman Filter..

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• Can use either textual or graphical approach or a hybrid combination

• Interactive user-interface

Graphical and textual options

Professor Eric Fahrenthold, The University of Texas, Mechanical Engineering

344, Dynamic Systems and Controls Classroom Course

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LabVIEW Control Design and Simulation Module

• Both signal flow and .m file development

• Single environment for: • Simulation of dynamic systems

• Real-time implementation for rapid control prototyping or hardware-in-the-loop simulation

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Standard Notation Reduces Learning Curve

LabVIEW Control Design & Simulation Module

The Simulink® software environment

Simulink® is a registered trademark of The MathWorks, Inc.

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Multi-Modal Rover for Search and Rescue

“With both an FPGA and a PowerPC processor, the Single-Board RIO platform has the flexibility to handle a variety of programming tasks and algorithms in an efficient manner. Onboard Ethernet, combined with a Wi-Fi adapter, enables real-time wireless communication, debugging, and deployment of software”

– Nick Morozovsky, Mechanical Engineering PhD student, Switchblade project leader

Coordinated Robotics Lab

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Video “UCSD Switchblade Robot”

http://www.youtube.com/watch?v=Dw0WxPlyWlI

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Control & Simulation DEMO

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Control Software & Hardware Options

Hardware Platform

I/O Options

LV for Win or Mac, LV-RT

Control algorithm

DAQ I/O

PCI/PXI USB (slow)

FPGA I/O

PCI/PXI cRIO/sbRIO

Vision

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Real-Time on Multicore Processors (DEMO)

Assign timed loops to specific processor cores.

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LabVIEW Control Design & Simulation Benefits

• Complete simulation and real-time implementation capability - stay in one environment from design to test to implementation

• Easily create parallel and multirate simulation or control loops, leverage multicore

• Custom user interface to change and observe parameters as simulation or control system is running

• Use VIs or programming structures inside or outside of simulation loops:

• Integrated design and simulation, batch simulation

• DAQ, RIO, Vision, or CAN for I/O

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Simulink® conversion

Convert plant and controller models you create in the Simulink® environment into LabVIEW Control Design & Simulation Module code

Simulink® is a registered trademark of The MathWorks, Inc.

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Simulation Model Converter Demo

http://www.library.cmu.edu/ctms/ctms/simulink/basic/imatlab.htm

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Co-Simulation w/ Multidomain Modeling Tools

• LMS AMESim

• Dassault Systemes Dymola

• Maplesoft MapleSim

• The MathWorks, Inc. Simscape™

• ITI SimulationX

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LabVIEW-Multisim Co-Simulation

• In Multisim: • Buck converter

• PWM generator

• In LabVIEW: • Optimized PID

controller

PID Controller

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• Efficiently design across both analog and digital domains

• Design closed-loop point-by-point simulation and control logic

Multisim and Control Design Simulation

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Sample Quotes From Case Studies

MathScript:

“We chose LabVIEW over other programming languages because it helped us decrease development time, develop familiar Windows-style GUIs, use LabVIEW MathScript functions to embed our .m file scripts in the solution, and adapt system functionality for future releases.”

CD&Sim:

“In practice, this stage was done by converting the Simulink models into equivalent models under the National Instruments (NI) LabVIEW environment, which supports running a simulation in realtime. In addition it provides good interfacing possibilities.”

“LabVIEW supports allocating cores to the program or part of the program on multi-core computers. This feature was used to give the simulation three cores and the interface modules one.”

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Wind turbine HIL Testing Siemens Wind Power Denmark

• Hardware-in-the-loop (HIL) simulation of wind, pitch & blade position to test turbine controller

• Multicore PXI, LabVIEW RT & FGPA

• LabVIEW Control Design & Simulation Module

Real-time HIL model

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Industrial HIL – National Oilwell Varco

“Having a simulation of the plant allow us to test our algorithm on the PLC on different working conditions much faster and effectively” - Pål Jacob Nessjøen, development advisor

Challenge. Modeling an industrial pump (including drives, gears, and drill string) and running it on cost effective hardware

Application. Create a test system to evaluate PLC performance before installing it offshore

Products used. LabVIEW, Mathscript and the Control Design and Simulation Module

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Developing a Control System to Automatically Position a Split-Hopper Vessel

Application: Build a control system that keeps a ship on a fixed position and heading

Challenge: Design an advanced control system with DGPS, wind, current, gyroscope feedback

Products: PXI, cRIO, RT, LabVIEW Control Design and Simulation Module

Key Benefit: Use a common platform to develop controller and deploy system able to integrate third party information systems.

“We used NI tools because its software allowed us to reuse

the same code from simulation to deployment and its

hardware was reliable” Miguel Taboada, SEAPLACE

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Powering Remote Villages with Revolutionary Airborne Wind Technology Using NI CompactRIO

• Matt Bennett, Windlift

• Challenge: Providing portable renewable energy to remote villages

• Solution: Developing a portable 12 kW airborne wind energy system that uses a tethered, flexible airfoil to replace the blades and tower found on traditional wind turbines.

• Products: NI SoftMotion Module, LabVIEW, DIAdem, CompactRIO, Control Design and Simulation Module, PID and Fuzzy Logic Toolkit “The seamless interface between the CompactRIO and the NI LabVIEW development environment offer a turnkey hardware/software solution with very little learning required.”

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LabVIEW System Identification Toolkit

• Identify and validate linear models of systems from empirical data

• Seamless integration with NI I/O • Parametric model estimation (both

SISO and MIMO) • Nonparametric model estimation • Recursive model estimation • Data preprocessing • Model conversion, validation and

presentation • Closed loop system identification

with feedback detection • Partially known “grey box” system

identifiation • Parameterized nonlinear system

identification

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System Identification Toolkit Demo

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• Physics-based environment simulator

• Based on the Open Dynamics Engine (ODE)

• Easy to switch between simulated IO and real world IO

LabVIEW Robotics Simulator

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Real-Time Algorithms

Open algorithms for microprocessor targets:

• Optimization w/ constraints

• Curve fitting

• Model predictive control

• System identification

Solutions for MIMO & nonlinear systems

Online design & adaptation

CompactRIO PXI RIO

Single-Board RIO

x86 mp PPC mp PPC mp

f(x,y)

path to min(f(x,y))

min(f(x,y))

Constraint plane

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LabVIEW MathScript RT & Control Design and Simulation Module Benefits

• Quickly take code to hw targets

• Multicore ease-of-use

• Instrumenting your algorithm

• Graphical/textual combination

• LabVIEW includes full programming capability

• Integration of 3rd party IP – including .m and .mdl

• LabVIEW is a complete graphical system design environment w/ all of the MoC’s that you need

28 ni.com CompactRIO* PXI Single-Board RIO*

Application Architecture Real-Time Testing and Simulation Software

* 128MB DRAM or great required

Multi-Chassis Systems

• RT Stimulus Generation

• Data Logging

• Test Automation

• Single-Point I/O

• Alarming

• Calculated Channels

• Deterministic Model Execution

• User Account Management

• Multi-Chassis Synchronization

• Multi-Chassis Data Sharing

• Closed-Loop Control

• Scaling and Calibration

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Single-Point I/O

• E-, M-, X-series DAQ

• SCXI / C-series SigCon

• R-series

• NI 9144 (EtherCAT)

• CompactRIO Scan Mode

• MXIe-RIO

• NI-XNET (CAN/LIN/FlexRay)

• Aero buses*

• FIU boards

Waveform (buffered) I/O support coming soon

Single-Point I/O

Channel Forcing

Model Execution

Parameter Updates

Calc Ch Processing

RT Stimulus Generation

Alarm/Procedure Exec

Custom Devices

NI VERISTAND ENGINE

I/O Drivers

Server Communication

Hardware Calibration

RT Stimulus Profile Editor

Data Log File Viewer

System Health Monitor

Macro Record/Playback

Alarm Configuration

Channel Faulting

Model Parameter Manager

WORKSPACE

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Hydraulic Control System Testing

“The out-of-the-box capabilities of NI VeriStand made it practical for us to develop an HIL test system, reducing our total testing cost by more than $740,000.”

– Greg Sussman, CLA, Process Automation

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Body Control Unit Testing

“The real-time stimulus profile tools work the way that a test engineer thinks and does not require knowledge of additional programming languages to utilize them. With this capability, our engineers are able to focus on their jobs – identifying potential module failures – which ultimately results in more issues identified and resolved.”

– Jason Bauman, Lear Corp.

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NI VeriStand Models

Import models from LabVIEW,

ANSI C/C++, and other software

environments for real-time

execution of:

• System simulations

• Closed-loop controllers

• Signal analysis algorithms

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Real-Time Modeling Environments 2013

• The MathWorks, Inc. Simulink® software

• LabVIEW

• LabVIEW Control Design and Simulation Module

• Esterel SCADE Suite

• Tesis DYNAWare models

• NI MATRIXx SystemBuild

• C/C++/FORTRAN/Ada

• MapleSim models from Maplesoft

• SimulationX from ITI

• GT-POWER engine models from Gamma Technologies Inc.

• AVL BOOST

• AVL CRUISE

• Dynacar from Tecnalia

• CarSim from Mechanical Simulation*

• AMESim from LMS*

• Dymola models from Dynasim**

IN-WORK

• WaveRT from Ricardo

• Rational Rhapsody from IBM

• 3KEYMASTER

• Models from VI-grade Simulink® is a registered trademark of The MathWorks, Inc. All

other trademarks are the property of their respective owners.