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Department of Mechatronics Engineering

Module IV:SIMULINK and Neuro-Fuzzy Toolboxes

MATLAB &SIMULINK with

Applications

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Session 2:Getting Started with Simulink

SIMULINK

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Session Otlines

• Subsytems

• Masking

• Discrete System

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S!s"stems

Metho% of reating S!s"stems

'here are two method #or creating

subsystems:• (ncapsulating a Subsystem ! portion o# existing model isencapsulated to be

a subsystem• &se Subsystem blocks #rom Signals )System

*ibrary

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S!s"stems

Encapslating S!s"stemsSuppose we want to make our primitive model o#mass+spring+damper as a subsystem

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S!s"stems

Encapslating S!s"stems 'o encapsulate a portion o# a Simulink model%select all the blocks and signal line to be includedin the subsystem using a bounding box using ourmouse

bounding box

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S!s"stems

Encapslating S!s"stems,hoose ,reate Subsystem under (dit menu

-ew subsystem

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S!s"stems

Encapslating S!s"stems 'o view or edit a subsystem% double+click theblock ! new window will appear

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S!s"stems

S!s"stems Bloc's.#% when building a model% we know that we willneed a subsystem% it will more convenient tobuild a subsystem in a subsystem directly

Drag a Subsystem /lock #rom 0orts )Subsystem *ibrary to the model window

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S!s"stems

S!s"stems Bloc'sDouble click the subsystem to open subsystemwindow

/uild subsystem using the standard procedure

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S!s"stems

S!s"stems Bloc's

&se .nport /locks #or all signals enteringsubsystem and 1utport /locks #or all signalsleaving the subsystem "/oth blocks are #rom 0ort) Subsytem *ibrary$

ou may change the label o# .nport and 1utpor,lose the subsystem window i# we 3nished

building subsystem

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Mas'ing

oncept

Masking permits us to treat a subsystem as i# itwas a simple block

! mask is a custom user inter#ace #or asubsystem that hides the subsystem4s

contents% making it appear to the user as anatomic block with its own icon andparameter dialog box

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Mas'ing

oncept

We make a masked subsystem #or the #ollowingreason:• 'here is an algorithm which we want to hide#rom

other user • 'o prevent unintended modi3cation o#subsystems by

hiding their contents behind a mask*et4s build a spring+mass masked block

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Mas'ing

1pen a new model workspace% and drag thesubsystem o# the primitive model into it

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Mas'ing

Select the subsystem model and then chooseMask under (dit menu #rom the new modelwindow menu bar

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Mas'ing

Mask (ditor dialog box consists o# #our tabbedpages• .con• .nitiali5ation

• 0arameters• Documentation

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Mas'ing

Mas' E%itor Docmentation (age

'he page consists o#three 3eld !ll o# the3elds are optional oumay enter as shown in

the 3gure

'he Docmentation pane enables you to de3neor modi#y the type% description% and help text #ora masked block

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Mas'ing

Mas' E%itor (arameters (age 'he page is used to set parameters o# block insubsystem underlying the masked block

6or our mass+spring+damper% we have the#ollowing parameters:• Mass% symbol: m% editable by user• Damper% c% editable• Spring% k% editable

'o add a variable% clickadd icon then enter allthe necessary 3eld

add icon

delete icon

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Mas'ing

Mas' E%itor (arameters (age

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Mas'ing

Mas' Initiation (age 'he Initiali)ation pane allows you to enterM!'*!/ commands that initiali5e the maskedsubsystemSimulink executes the initiali5ation commandswhen it• *oads the model• Starts the simulation or updates the blockdiagram• 7otates the masked block• 7edraws the block4s icon "i# the mask4s iconcreation

code depends on variables de3ned in the

initiali5ation code$

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Mas'ing

Mas' Initiation (age

6or our example% leave this page empty since wewant to make the parameters are editablethrough block parameters

6or example% i# wewant our maskedsystem has the

#ollowing value:m89c82k89;

'ype that parametersin initiali5ationcommands

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Mas'ing

Mas' E%itor Icon (age 'he Mask (ditor4s Icon pane enables you to createicons that can contain descriptive text% statee

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Mas'ing

Mas' E%itor Icon (age

Drawing comman%s 'his 3eld allows us to enter commands that draw

the block4s icon Simulink provides a set o#commands that can display text% one or moreplots% or show a trans#er #unction We may usethe #ollowing commands: text% plot% displ% dpoly%

etc as shown in the example command We mustuse these commands to draw your icon

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Icon options 'hese controls allow you to speci#y the attributeso# the block icon

6rame 'ransparency

7otation &nit

Mas'ing

Mas' E%itor Icon (age

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Mas'ingMas'ing

Mas' E%itor Icon (age*et draw the #ollowing 3gure #or our maskedsubsystem

Set the #ollowing

icon option:6rame: =isible

'ransparency:1pa

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plot">;9 ;9?%>;2 ;@?$plot">;A ;B ;B ;A ;A?%>;2 ;2 ;@ ;@ ;2?$

plot">;9 ;2?%>;A ;A?$plot">;C ;2 ;2 ;C?%>;C ;C ; ;?$plot">9 2 2 C C A?%>B B @ E B B?$plot">;C ;A?%>;A ;A?$plot">;B ;F?%>; ;?$

text"%%m$text"2%C%c$text"2%@%k$text"@%E%#$

Mas'ingMas'ing

Mas' E%itor Icon (age 'ype the #ollowing commands into commands 3eld

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Mas'ingMas'ing

Mas' E%itor Icon (ageWe will get the #ollowing masked subsystem:

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Mas'ingMas'ing

Mas' E%itor Icon (ageWe may also displaying a ti# image on a block iconusing the #ollowing drawing command:

image"imread"H3leInameti#4$$

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,lose the mask editor% now% our subsystem looklike blocks o# Simulink library Double+click to seethe eJect o# the masking

Mas'ing

'i

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Mas'ing


M 'i

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Mas'ing


Di S

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Discrete S"stem

oncept

Discrete system is dynamical system that canbe described using diJerence e

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Discrete S"stem

oncept

Simulink has the ability tosimulate discrete system%

including system whosecomponents operate atdiJerent rates "multi rate$and system that mix

discrete and continuouscomponents "hybridsystem$

Di t S t

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Discrete S"stem

*et4s build a model and simulate the #ollowingsystem:

)k (u)1k (x094.0)1k (xsin05.0)k (x

)1k (x1.0)1k (x)k (x

212

211

+−+−−=

−+−=

We may construct a Simulink model by using• primitive blocks• trans#er #unction block • state variable model

'he process is assumed to have a sample timeo# ;9 sec

Di t S t

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(rimiti*e Bloc's

Discrete S"stem

We can build a block diagram as the #ollowing3gure:

0.094

u(k)

+ + z

10.1

x2 (k)

x1 (k)

z

1

x2 (k-1) x

1 (k-1)

+ +

0.05sinx1!k"1#$

-

!%ources#

!&ser"defined functions#

!'iscrete#

!(ath# !(ath#

Di t S t

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(rimiti*e Bloc's

Discrete S"stem

'here#ore% we have the #ollowing Simulinkmodel

-ext% we should de3ne the #"u$ #unction andsample time

Di t S t

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Discrete S"stem

Double click the #"u$ block% then modi#y thedesired #unction and sampling time ,lick 1K toclose the window

;;Lsin"u$

;9

(rimiti*e Bloc's

Di t S t

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Discrete S"stem

'he Simulink model become as #ollows:

(rimiti*e Bloc's

Di t S t

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Double click the unitdelay blocks% then setsample time to ;9

Do the same process #orother blocks: sum% gainand source

Discrete S"stem

(rimiti*e Bloc's

Di t S t

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/e#ore we run the Simulink model% we shouldcare#ully determine the step si5e o# thesimulation parameter especially when we use 3x

step.n general% we can select the step si5e at integero# multiples o# the shortest system4s sampletime

.n our example% the sample time is ;9 so wecan select ;9 as step si5e 'hen we cansimulate the model

Discrete S"stem

(rimiti*e Bloc's

Discrete S stem

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Discrete S"stem

*et4s build a model and simulate the #ollowingsystem:

)k (u)1k (x094.0)1k (xsin05.0)k (x

)1k (x1.0)1k (x)k (x

212

211

+−+−−=

−+−=

.n 5+domain%

( )[ ])z(U)z(Xsin05.0094.0z

z)z(X

)z(X1z

1.0

)z(X

12

21

+−

−

=

+

=

Transfer +nction

Discrete S"stem

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Discrete S"stem

'hen we can construct the #ollowing blockdiagram:

We can make the discrete model easily based onthis block

!(ath#!'iscrete#

!%ources#

!%inks#!&ser"defined functions#

)!*1 #

U(z) X 2 (z)

+ - 094.0zz

−

X 1 (z)1z

z1.0

+

Transfer +nction

Discrete S"stem

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Discrete S"stem

'here#ore% we have the #ollowing Simulinkmodel

-ext% we should de3ne the #"u$ #unction andsample time

Transfer +nction

Discrete S"stem

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Discrete S"stem

Double click the #"u$ block% then modi#y thedesired #unction and sampling time ,lick 1K toclose the window

;;Lsin"u$

;9

Transfer +nction

Discrete S"stem

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Discrete S"stem


Transfer +nction

Discrete S"stem

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Discrete S"stem

Double click the discretetrans#er #unctions% thenmodi#y the trans#er#unction parameters andsample time

1 0$

1 "0.094$

0.1

0.1 0$

1 1$

0.1

Transfer +nction

Discrete S"stem

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Discrete S"stem


Transfer +nction

Discrete S"stem

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Discrete S"stem

/e#ore we run the Simulink model% we shouldcare#ully determine the step si5e o# thesimulation parameter especially when we use 3x

step.n general% we can select the step si5e at integero# multiples o# the shortest system4s sampletime

.n our example% the sample time is ;9 so wecan select ;9 as step si5e 'hen we cansimulate the model

Transfer +nction

Discrete S"stem

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Discrete S"stem

Simulink also has capability to handel discretesystems with involve subsystems that operateat diJerent

'he Simulink sample+time color capability

provides help in keeping track o# sample tiems

'o activates the #eature% select6ormat:0ortSignals Display and then check

Sample time colors

Mltirate Discrete Time

Discrete S"stem

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Discrete S"stem

,"!ri% S"stem

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,"!ri% S"stem

Mixed continuous and discrete systems arecomposed o# both sampled and continuousblocks Such systems can be simulated using

any o# the integrationmethods% although certain methods are moreeNcient and accurate than others

6or most mixed continuous and discretesystems% the 7unge+Kutta variable+stepmethods% ode2C and odeA% are superior to theother methods in terms o# eNciency andaccuracy

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En% of Session -

+rther .ea%ing• &sing Simulink

Documents

Simulink-02-01