Introduction to Control System Design & Analysis Using MATLAB & Simulink · dynamics Verify results...
Transcript of Introduction to Control System Design & Analysis Using MATLAB & Simulink · dynamics Verify results...
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1 © 2012 The MathWorks, Inc.
Introduction to Control System Design
& Analysis Using MATLAB & Simulink
Chirag Patel
Application Engineer – Control System
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Key Takeaways
Single Environment for Plant Modeling, Controller Design and Analysis
Efficiently Design Controller Logic using Interactive Design Tools
Achieve Overall System Performance Goals using Optimization-Based Techniques
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Control System Design Process
Know your plant/system - Linearization
Design the controller with linear plant model
Test Controller in Real-Time
Test controller with non-linear plant in closed-loop
Add State-machine & Supervisory Logic
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Multi-Domain Plant Modeling using Simulink
and Simscape
Plant Modeling & Linearization
Controller Design & Stability Analysis
Test Controller in Real-Time
Closed-Loop System Analysis
Add State-Machine & Supervisory Logic
Simulink is an environment used by
system and controls engineers for
multidomain system simulation &
embedded algorithm development
Simscape enables physical
modeling of multidomain physical
systems
Eases process of
modeling physical systems – Build models that reflect
structure of physical system
– Leverage MATLAB to create
reusable models Demo
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Plant Model in Simulink
Simulink Advantages:
• Environment for Model-Based Design for Dynamic and Embedded
Systems
• Model, Simulate, Visualize & Analyze Results, Generate Code &
Implement
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Plant Model in Simscape
Simscape Model Advantages:
• Easier to read than equations
• Quicker to create
• More intuitive – easier to
explain to other engineers
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Multi-Domain Plant Modelling using
Simscape
Plant Modeling & Linearization
Controller Design & Stability Analysis
Test Controller in Real-Time
Closed-Loop System Analysis
Add State-Machine & Supervisory Logic
Multidomain physical systems
Simscape Mechanical Hydraulic Electrical
Thermal
Custom Domains via
Simscape Language
Pneumatic Magnetic
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Simscape
MATLAB, Simulink
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Model System using Measured Data
Plant Modeling & Linearization
Controller Design & Stability Analysis
Test Controller in Real-Time
Closed-Loop System Analysis
Add State-Machine & Supervisory Logic
System Identification Toolbox
helps you estimate a model from
measured data.
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Challenges with Nonlinear Plants
Finding desired operating points or trimming the plant at multiple
operating conditions
Deriving linearized models at multiple operating points for large &
complex system
Handling systems with strong discontinuities or event-based
dynamics
Performing stability analysis at various operating points
Checking robustness of a controller against plant uncertainties
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Find trim points using optimization
methods
Calculate at specific times or events during
simulation
Automatically generate MATLAB code from
the Graphical User Interface
Nonintrusive Trimming & Linearization of
Plant Models
Plant Modeling & Linearization
Controller Design & Stability Analysis
Test Controller in Real-Time
Closed-Loop System Analysis
Add State-Machine & Supervisory Logic
Demo
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Linearize without having to modify model
structure
Linearize whole model, portion of model,
single block, or subsystem
Specify linearization behavior of any number
of blocks in the model
Nonintrusive Trimming & Linearization of
Plant Models
Plant Modeling & Linearization
Controller Design & Stability Analysis
Test Controller in Real-Time
Closed-Loop System Analysis
Add State-Machine & Supervisory Logic
Demo
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Compute frequency response for models
with strong discontinuities or event-based
dynamics
Verify results of a linearization
Study the effects of excitation signal
amplitude on nonlinear system’s gain and
phase characteristics
Simulation-Based Computation of a Simulink
Model Frequency Response
Plant Modeling & Linearization
Controller Design & Stability Analysis
Test Controller in Real-Time
Closed-Loop System Analysis
Add State-Machine & Supervisory Logic
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Easy Tuning of Single-Loop and Multi-Loop
Controllers Directly in Simulink
Plant Modeling & Linearization
Controller Design & Stability Analysis
Test Controller in Real-Time
Closed-Loop System Analysis
Add State-Machine & Supervisory Logic
Tune gain, transfer function, zero-pole-gain, state-space, and PID blocks in SISO loops
Automatically identify relevant control loops and launch preconfigured session of SISO Design Tool
Use graphical, automatic, and optimization-based tuning methods
Save design for easy retrieval and update of Simulink controller parameters
Demo
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Interactive Tuning of PID Controllers
Plant Modeling & Linearization
Controller Design & Stability Analysis
Test Controller in Real-Time
Closed-Loop System Analysis
Add State-Machine & Supervisory Logic
Demo
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Controller Tuning using Optimization Based
Techniques
Plant Modeling & Linearization
Controller Design & Stability Analysis
Test Controller in Real-Time
Closed-Loop System Analysis
Add State-Machine & Supervisory Logic
Tune model parameters using numerical optimization to meet desired system performance
Demo
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Checking Robustness of Controller Against
Plant Uncertainties
Plant Modeling & Linearization
Controller Design & Stability Analysis
Test Controller in Real-Time
Closed-Loop System Analysis
Add State-Machine & Supervisory Logic
Capturing plant model uncertainty
Worst-Case Stability and Performance Analysis of Uncertain Systems
Automatic Tuning of Centralized and Decentralized Control Systems
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Challenges with Nonlinear Plants
Finding desired operating points or trimming the plant at multiple
operating conditions
Deriving linearized models at multiple operating points for large &
complex system
Handling systems with strong discontinuities or event-based
dynamics
Performing stability analysis at various operating points
Checking robustness of a controller against plant uncertainties
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Design & Simulate State Machines and
Control Logic using Stateflow
Plant Modeling & Linearization
Controller Design & Stability Analysis
Test Controller in Real-Time
Closed-Loop System Analysis
Add State-Machine & Supervisory Logic
Stateflow® extends Simulink® with a design environment for developing complex state charts and flow graphs in a natural, readable, and understandable form
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Real-time Testing & HIL Simulation
Plant Modeling & Linearization
Controller Design & Stability Analysis
Test Controller in Real-Time
Closed-Loop System Analysis
Add State-Machine & Supervisory Logic
Run Simulink models in hard real-time using xPC Target Turnkey solution
Complete hardware-software solution to perform rapid-control prototyping or hardware-in-loop testing
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Summary
Plant Modeling & Linearization
Controller Design & Stability Analysis
Test Controller in Real-Time
Closed-Loop System Analysis
Add State-Machine & Supervisory Logic
Explore & Research
Design & Development
Go
Real Time