LabVIEW Mathscript

LabVIEW Mathscript
ALabVIEW toolforexecutingtextualmathematical commands Matrixandvectorbasedcalculations(linearalgebra) Visualizationofdatainplots Runningscriptscontaininganumberofcommandswritten inafile Alargenumberofmathematicalfunctions.MathScript commandareequaltoMATLABcommands(some MATLABcommandsmaynot beimplemented).

LabVIEW Mathscript
MathScript canbeusedintwoways: InaMathScript node whichappearsasaframe insidetheBlockdiagramofaVI(availableonthe Functions/Mathematics/Scripts&Formulas palette.) InaMathScript window asadesktop mathematicaltoolindependentofLabVIEW

LabVIEW Mathscript UsingMathscript Node

To =
K

1 3 A + B ln (R ) + C [ln (R )]
oK

oC

=T

+ 273.15

LabVIEW Mathscript UsingMathscript Node

Mathscript UsingMathscript Window

Output Window
where executed commands and numerical results are shown.

Workspace window

Command Window

(after you press the Enter key)

Mathscript UsingMathscript Window

TheWorkspacewindow,whichcontainstheVariables,Script,and History(sub)windows containingthefollowingtabs: Variables:Listsgeneratedvariables.Thenumericalvalueofthese variablescanbedisplayed.Thevaluecanalsobeplottedgraphically byselectingGraphicsFirstintheVariablesdialogwindow. Script:Opensascripteditor.ToopenanotherScripteditor:Select themenu(intheMathScript window)File/NewScriptEditor. History:Showsalistofpreviouscommandsthatyouhaveexecuted.

LearningtheMathScript language
Startup OpentheMathScript window(menuTools/MathScript Window).

ExecutethefollowingcommandsintheCommand window(bypressingtheEnterbuttononthe keyboard),andobservetheresultsintheOutput window.

LearningtheMathScript language
1+2 Theresultis3 Toadd4toans: ans+4

ans nowgetsvalue7

Severalcommandsmaybewrittenononeline,separatingthe commandsusingeithersemicolonorcomma. Withsemicolontheresultofthecommandisnotdisplayedin theOutputwindow,butthecommandisexecuted. Withcommatheresultisdisplayed. a=5;b=7,c=a+b Withtheabovecommandsthevalueofaisnotdisplayed, whilethevaluesofbandcaredisplayed

LearningtheMathScript language
Recallingpreviouscommands Torecallpreviouscommands,presstheArrowUp buttononthekeyboardasmanytimesas needed. Torecallapreviouscommandstartingwith certaincharacters,typethesecharacters followedbypressingtheArrowDownbuttonon thekeyboard.Tryrecallingtheprevious command(s)beginningwiththeacharacter:

LearningtheMathScript language
Casesensitivity MathScript iscasesensitive:
Help Aboveyouusedthehelpcommand.Itcommand displaysinformationaboutaknowncommand, typicallyincludinganexample.Tryhelpsin

NumberFormats
Theformatcommandisusedtoselectbetweendifferent formatsoftheoutput,cf.theinformationabouttheformat commandthatyousawabove.Trythefollowingcommands: formatshort,100*pi (Comment:5digits,exceptpossible trailingzeros,areshown.) formatlong,100*pi (16digits.) formatshorte,100*pi (5digitsandatermshowingthe exponentsof10) formatlonge,100*pi (16digitsandatermshowingthe exponentsof10) Inmostcasesformatshortisok.Thisisalsothedefault format.Toresettoformatshort: formatshort

NumberFormats
Youcanenternumbersinvariousways:
x1=0.1 x2=1e1 x3=2e2 x4=2*10^(2) x5=exp(1) (thenaturalbase,e=e1 =2.7183) x6=1+2i (acomplexnumber)

 AllvariablesgeneratedinaMathScript session(asessionlasts betweenlaunchingandquittingMathScript)aresavedinthe MathScript Workspace.Youcanseethecontentsofthe WorkspaceusingthemenuTools/Workspace/Variables (tab).Alternatively,youcanusethewhocommand:who YoucandeleteavariablefromtheWorkspace: clearx6 MathScript functionsarepolymorphic,i.e.theytypicallytake bothscalarsandvectors(arrays)asarguments.Asan example,thefollowingtwocommandscalculatethesquare rootofthescalar2andthesquarerootofeachofthe elementsofthevectorofintegersfrom0to5,respectively: sqrt(2) sqrt([0,1,2,3,4,5]) Whentheargumentisavectorasinthiscase,thecalculation issaidtobevectorized.

Matricesandvectors
ThematrixisthebasicdataelementinMathScript.Amatrixhavingonly oneroworonelinearefrequentlydenotedvector.Belowareexamplesof creatingandmanipulatingmatrices(andvectors). Tocreateamatrix,usecommatoseparatetheelementsofarowand semicolontoseparatecolumns.Forexample,tocreateamatrixhaving numbers1and2inthefirstrowand3and4inthesecondrow: A=[1,2;3,4] withtheresult A= 12 34 Totransposeamatrixusetheapostrophe: B=A' Tocreatearowvectorfromsay0to4withincrement1: R1=[0:4]

Matricesandvectors
Tocreatearowvector fromsay0to4withincrement0.5: R2=[0:0.5:4] Tocreateacolumnvector fromsay0to4withincrement1: R3=[0:4]' Youcancreatematricesbycombiningvectors (ormatrices): C1=[1,2,3]';C2=[4,5,6]';M=[C1,C2] Herearesomespecialmatrices: Youcanaddress anelementinamatrixusingthestandard(rownumber,column number)indexing.Note:Theelementindexesstartswithone,notzero. (In LabVIEW,arrayindexesstartswithzero....)Forexample(assumingmatrix A=[1,2;3,4]isstillintheWorkspace),toaddressthe(2,1)elementofAandassign thevalueofthatelementtothevariablew: w=A(2,1) withresultw=3. Youcanaddressonewholeroworcolumnusingthe:(colon)operator.For example, C2=A(2,:) withresultC2=[3,4](displayedalittledifferentintheOutput window,though).

Elementbyelementcalculations
Elementbyelement calculationsareexecuted usingthedotoperatortogetherwiththe mathematicaloperator.Hereisanexampleof calculatingtheproductofeachofthe elementsintwovectors: [1,2,3].*[4,5,6] withresult[41018].

Scripts
CreateascriptintheScripteditor(whichisontheScripttab inthe Workspacewindow(anewScripteditorcanopenedviathemenu File/NewScriptEditor)ofnamescript1.mwiththefollowing contents: a=1; b=2; c=a+b Savethescriptinanyfolderyouwant. RunthescriptbyclickingtheRunbutton.Allthecommandsinthe scriptareexecutedfromtoptobottomasiftheywereenteredat thecommandline. Youshouldmakeitahabittousescriptsforallyourwork.Inthis wayyousaveyourwork,andyoucanautomateyourtasks.

Plotting
Youcanplotdatausingtheplotcommand(severaladditionplotting commandsareavailable,too).Hereisanexample: Generateavectortofassumedtimevaluesfrom0to100with increment0.1: t=[0:.1:100]'; Generateavectorxasafunctionoft: x=1+0.02*t; Generateavectoryasafunctionoft: y=sin(0.2*t); OpenFigureno1: figure(1) Plotsxverus t,andyversust,inthesamegraph: plot(t,x,t,y)

Plotting
The resulting plot is shown in the figure below.

Plotting
Probablyyouwanttoaddlabels,annotations,changelinecoloretc.Thiscanbe doneusingmenusinthePlotwindow.Thisisstraightforward,so theoptionsare notdescribedhere. Asanalternativetosettinglabelsetc.viamenusinthePlotwindow,thesecanbe setusingcommands.Belowisanexample,whichshouldbeselfexplaining, howevernotehowtheattributestoeachcurveintheplotisgiven,seetheplot() lineinthecodebelow.

t=[0:.1:100]'; x=1+0.02*t; y=sin(0.2*t); figure(1) plot(t,x,'r',t,y,'b') %x(t)indashedred.y(t)insolidblue. xmin=0;xmax=100;ymin=2;ymax=2; axis([xmin xmax ymin ymax]) grid xlabel('t [sec]') ylabel('x (red,dashed)og y(blue,solid)[Volt]') title('Data fromExperiment1')

Plotting

Plottingasinewave
Run

Plot
t=[0:.1:100]';

Sc

x=-1+0.02*t;

rip t

y=sin(0.2*t);

Ed

ito r

figure(1) plot(t,y,'b-') %x(t) in dashed red. y(t) in solid blue. xmin=0;xmax=100;ymin=-2;ymax=2; axis([xmin xmax ymin ymax]) grid xlabel('t [sec]') ylabel('x (red, dashed) og y (blue, solid) [Volt]') title('Data from Experiment 1')

Definingandsimulatingastransfer function
s=tf('s');%DefinesstobetheLaplace variableusedintransferfunctions K=1;T=1;%Gainandtimeconstant H1=tf(K/(T*s+1));%CreatesHasatransferfunction delay=1;%Timedelay H2=set(H1,'inputdelay',delay);%DefinesH2asH1butwithtimedelay figure(1)%Plotofsimulatedresponsesshownnextslide step(H1,H2)%Simulateswithunitstepasinput,andplotsresponses.

Definingandsimulatingas transferfunction

Calculatingandplottingfrequency responseinaBodeplot
s=tf('s');%DefinesstobetheLaplace variableusedintransferfunctions K=1;T=1;%Gainandtimeconstant H1=tf(K/(T*s+1));%CreatesH1asatransferfunction w_min=0.1;%Minfreqinrad/s w_max=10;%Maxfreqinrad/s [mag,phase,w_out]=bode(H1,[w_min,w_max]);%Calculatesfrequencyresponse figure(1) semilogx(w_out,20*log10(mag)),grid,xlabel('log w[rad/s]'),ylabel('dB')%Plots frequency response figure(2) plot(log10(w_out),20*log10(mag)),grid,xlabel('log w[rad/s]'),ylabel('dB')%Plots frequency response figure(3) plot(w_out,20*log10(mag)),grid,xlabel('w [rad/s]'),ylabel('dB')%Plots frequencyresponse

figure(1)

figure(2)

figure(3)

Frequencyresponseanalysisand simulationoffeedback(control)systems
Thenextscriptshowshowyoucananalyzeacontrolsystem. Inthisexample,theprocesstobecontrollerisatime constantsysteminserieswithatimedelay.Thesensormodel isjustagain.ThecontrollerisaPIcontroller. Thetimedelayisapproximatedwitharationaltransfer function(onthenormalnumeratordenominatorform).This isnecessarywhenyouwanttocalculatethetrackingtransfer functionandthesensitivitytransferfunctionautomatically usingthefeedback function.Thetimedelayapproximationis implementedwiththepade function(Pad approximation). First,themodelsaredefinedusingthetf function.Thetime delayisapproximatedusingthepade function.

Frequencyresponseanalysisand simulationoffeedback(control)systems
Thecontrolsystemissimulatedusingthestep function. Thestabilitymarginsandcorrespondingcrossover frequenciesarecalculatedusingthemargin function. Thecontrolsystemtransferfunctions namelytheloop transferfunction,trackingtransferfuntion andthesensitivity transferfunction arecalculatedusingtheseries function andthefeedback function. ThesetransferfunctionsareplottedinaBodediagramusing thebode function. Althoughthesysteminthisexampleisacontinuoustime system,discretetimesystemscanbeanalysed inthesame way.(Withadiscretetimesystem,noPadapproximationis necessarybecausetimedelayscanbepreciselyrepresented inthemodel.)

TheScript
s=tf('s');%DefinesstobetheLaplace variableusedintransfer functions %Definingtheprocesstransferfunction: K=1;T=1;Tdelay=0.2;%Processparameters padeorder=5;%OrderofPadeapproximationoftimedelay. Order5isusuallyok. P1=set(tf(K/(T*s+1)),'inputdelay',Tdelay);%Includingtime delayinprocesstransferfunction P=pade(P1,padeorder);%Derivingprocesstransferfunction withPadeapproxoftimedelay %Definingsensortransferfunction: Km=1;S=tf(Km);%Definingsensortransferfunction(justa gaininthisexample)

ContinueScript
%Definingcontrollertransferfunction: Kp=2.5;Ti=0.6;C=Kp+Kp/(Ti*s);%PIcontrollertransfer function %Calculatingcontrolsystemtransferfunctions: L=series(C,series(P,S));%Calculatinglooptranfer function M=feedback(L,1);%Calculatingtrackingtransferfunction N=1M;%Calculatingsensitivitytransferfunction %Analysis: figure(1) step(M),grid%Simulatingstepresponseforcontrolsystem (trackingtransferfunction)

ContinueScript
%Calcutating stabilitymarginsandcrossoverfrequencies: [gain_margin,phase_margin,gm_freq,pm_freq]=margin(L) %Note:HelpmargininLabVIEW showserroneously parametersinotherorderthanabove. figure(2) margin(L),grid%PlottingLandstabilitymarginsandcrossover frequenciesinBodediagram figure(3) bodemag(L,M,N),grid%Plotsmaginitude ofL,M,andNin Bodediagram