Symbolic v Simulink

Symbolic v Simulink
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SYMBOLIC V SIMULINK
MC TIU
Hiu mt cch c bn v hai cng c mnh v hu hiu ca Matlab, l Symbolic v
Simulink, t sinh vin c th t mnh pht huy cc chc nng cao hn ca hai
cng c ny trong tnh ton v m phng h thng.
THAM KHO
[1]. The Mathworks Inc., Matlab Notebook Users Guide, 2003.
[2]. Nguyn Hoi Sn - Thanh Vit - Bi Xun Lm, ng dng MATLAB trong
tnh ton k thut, Tp 1, NXB HQG Tp. HCM, 2000
[3]. Nguyn Ch Ngn, Bi th nghim K thut m phng trong iu khin t ng, B
mn Vin Thng & T ng ha, khoa Cng ngh thng tin, i hc Cn th, 2002.
[4]. Nguyn Cng nh, Phn tch v tng hp cc h thng iu khin bng my tnh,
NXB Khoa hc v K thut, 2002.
[5]. http://www-h.eng.cam.ac.uk/help/tpl/programs/Matlab/Symbolic.html
THC HNH
Symbolic v Simulink u cha th vin chc nng rt phong ph, bi th nghim ny
ch c th cp n nhng g gi l c bn nht. T , sinh vin c th t mnh nghin
cu v pht trin tip.
Symbolic
Phin bn mi nht ca Symbolic toolbox c Mathworks gii thiu trong Matlab 6.5
vo thng 6-2003. l mt th vin ton hc kiu k t, c pht trin t Symbolic

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Symbolic v Simulink

Maple ca trng i hc Waterloo, Canada. c ci nhn tng qut v cc chc nng

ca Symbolic, sinh vin hy g:
>>help symbolic
Mt s hm thng dng ca Symbolic:
Tn hm Chc nng

Tn hm Chc nng

diff

o hm

fourier

Bin i Fourier

int

Tch phn

ifourier

Bin i Fourier ngc

taylor

Khai trin Taylor

laplace

Bin i Laplace

det

nh thc ca ma trn

laplace

Bin i Laplace ngc

ezplot

V hm, ? plot

numden T v mu ca phn s
subs

Thay bin sym bng tr s ezpolar

V hm, ta cc ? polar

dsolve

Gii phng trnh vi phn ezmesh

V mt li ? mesh

solve

Gii phng trnh i s

V mt ? surf

ezsurf

bin i mt s, mt bin hay mt i tng no thnh kiu Symbolic ta c th

s dng mt trong cc cch sau:
>>s=sym(A)
>>x=sym(x)
>>syms x y z % khai bo kt hp x, y v z l bin symbolic
1. Tnh o hm bng hm diff ca symbolic: Nu S l biu thc symbolic th:
diff(S) o hm ca S theo bin t do
diff(S,v) o hm ca S theo bin v
diff(S,v,n) o hm cp n ca S theo v.
V d: Tnh o hm ca y = sinx3.
>> syms x % khai bao x la bien kieu symbolic
>> y=sin(x^3);
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Symbolic v Simulink

>> z=diff(y) % dao ham cua y

z=
3*cos(x^3)*x^2 % sinh vien kiem tra ket qua
>>pretty(z) % hien thi dang quen thuoc
3 cos(x3) x2
>>ezplot(x,y) % ve y theo x

Hnh 3.1 V th hm symbolic

2. Tnh vi phn bng hm int - Nu S l biu thc Symbolic th:

int(S) tch phn khng xc nh ca S theo bin mc nhin (mun bit bin mc nhin
ny ta dng hm findsym).
int(S,v) tch phn khng xc nh ca S theo v.
int(S,a,b) tch phn xc nh ca S trn cn [a,b]
int(S,v,a,b) tch phn xc nh ca S theo v trn cn [a,b]

(
) dx
2
7(x + 1)

1 2x2 19+12x2

V d: Tnh

>>syms x
>>S=2*x^2*(19+12*x^2)/(7*(x^2+1))
>>y=int(S,x,0,1) % tch phn S theo x trn cn [0,1]
>>subs(y) % i sang kiu s
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Symbolic v Simulink

3. Gii h phng trnh bng hm solve:

>>help solve
>>syms x y
>>[x,y]= solve('x^2*sin(x^2)-3*y=7','x+y=1')
Sau khi thu c nghim x v y, sinh vin hy thay vo 2 phng trnh trn v nhn xt
kt qu.
4. V mt 3D bng hm ezsurf: V d v mt S = f(x,y) =

y
1 + x2 + y2

trn min xc nh:

-5<x<5; -2<y<2.
>>syms x y
>>S=y/(1+x^2+y^2)
>>ezsurf(S, [-5 5 2*pi 2*pi])

Hnh 3.2 V th 3D cho hm s symbolic

Simulink
Simulink 5.0 (Simulation and Link - R13) c MatWorks gii thiu vo thng 6 nm
2003. N cho php phn tch, m hnh ha v m phng cc h thng ng tuyn tnh
v phi tuyn, lin tc v ri rc mt cch trc quan trong mi trng giao tip ha,
bng cc thao tc chut n gin. C th ni, khng tn dng c Simulink l mt thit
thi ln cho ngi lm cng tc m phng!

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Symbolic v Simulink

Khi ng Simulink bng mt trong cc cch sau:

nhp: >>simulink
hoc nhp chut vo

trn menubar ca Matlab

Th vin simulink hin ra nh hnh 3.3:
Trc tin, sinh vin hy nhp chut vo cc thanh cun ca th vin c ci nhn
thn thin v simulink.
T y, c th to m hnh bng simulink, hy:
nhp chut vo biu tng
ca th vin simulink
chn: File New Model trong Menu ca th vin Simulink
chn: File New Model trong ca s lnh ca Matlab

Hnh 3.3 Ca s chnh ca th vin Simulink

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Symbolic v Simulink

Hnh 3.4 Mi trng son tho ca Simulink

Ca s ny (hnh 3.4) cho php ta nhp - ko - th vo tng khi chc nng trong th
vin simulink. V d, t vo y khi Sine Wave trong th vin
ca
(hnh 3.5):

Hnh 3.5 Ly mt khi t th vin

Sau khi t tt c cc khi cn thit ca m hnh, ta ni chng li bng cch nhp - gi

v ko mt ng t ng ra ca khi ny n ng vo ca khi khc ri th phm tri
chut, mt kt ni s c thit lp.
1. Xy dng m hnh h thng xe ti:

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Symbolic v Simulink

Hnh 3.6 M hnh xe ti

cho bi phng trnh: m dv

dt = u bv hay

dv
dt

= m (u bv).

Trong m l khi lng xe, u l lc tc ng ca ng c (ng vo ca m hnh), b l

h s ma st v v l vn tc t c (ng ra ca m hnh).
Xut pht im ca vic xy dng cc m hnh h thng t cc phng trnh vi phn
tng ng l cc khi tch phn (Integrator). Nu trong phng trnh m t h thng c
vi phn bc n th ta s t vo m hnh n khi tch phn, do quan h dv
dt = v.
M mt ca s m hnh mi.
t vo m hnh khi Integrator t th vin Continuous v k cc ng
thng ni n ng vo v ng ra ca khi ny.
t nhn vdot (dv/dt) cho cho ng ni n ng vo v v cho ng ni
n ng ra bng cch nhp p chut ngay pha trn cc ng ny.

T phng trnh h thng ta thy dv/dt (vdot) bng tch ca thnh phn (1/m) v thnh
phn tng (u-bv), nn ta thm khi 1/m ngay trc khi tch phn:
t vo khi Gain trong th vin
.
Nhp p chut vo khi ny thay i li thnh 1/m.
t nhn inertia cho khi ny tng trng cho qun tnh ca xe (nhp p
vo nhn Gain bn di khi).

By gi ta t khi tng vi 2 ng vo +-, ng vo + s c ni vi u, ng vo -

s c ni vi thnh phn bv c (u-bv)
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Symbolic v Simulink

t vo khi Sum trong th vin

Nhp p vo khi ny i ng vo t ++ sang +-

c thnh phn bv ta ch cn t thm khi Gain vi li b:

t khi Gain c li b
t nhn l damping tng trng cho thnh phn lc cn ca xe.

n y vic xy dng m hnh xe ti vi ng vo u v ng ra v coi nh hon thnh.

Tuy nhin, m phng m hnh ny, ta cn t thm khi Step vo u v hin th v
trn khi Scope
t khi Step trong th vin
bin u ngay ng vo.
t khi Scope trong th vin
ngay ng ra v.

Nh rng m, b v u l cc bin cn c gn tr trc khi m phng.

>>m=1000
>>b=50
>>u=500

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Symbolic v Simulink

Thi gian m phng h thng ty thuc vo thng s Stop time trong menu
SimulationSimulation paramrters,gi s t 120 (Hnh 3.7).
chy m phng, ta c th thc hin bng 1 trong cc cch:
nhp chut vo biu tng
trn menubar ca m hnh
chn: Simulation Start
Ctrl-T
Nhp p vo Scope xem kt qu m phng.

Hnh 3.7 Thay i thng s m phng

2. Xy dng m hnh h thng iu khin v tr motor DC cho bi phng trnh vi phn

sau:
d2
dt
di
dt

1
L

1
J

(Kti b ddt )

( Ri

+ V Ke dt

Trong :
J = 0.01 Kgm2/s2l moment qun tn ca rotor

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Symbolic v Simulink

b = 0.1 Mms l h s ma st ca cc b phn c kh

K = Ke = Kt = 0.01 Nm/A l hng s sc in ng
R = 10 ohm l in tr dy qun
L = 0.5 H l h s t cm
V l in p t ln cun dy ca motor
l v tr trc quay (ng ra ca m hnh)
i l dng in chy trong cun dy ca motor.

Hnh 3.8 M hnh ton h iu khin v tr motor DC

Quan st tng phng trnh m t h thng ta thy cu trc ca chng cng tng t
nh phng trnh ca cu ?. Sinh vin ln lt thc hin trn tng phng trnh c
(hnh 3.9):

(Hnh 3.9)

Kt hp 2 phng trnh:

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Symbolic v Simulink

(Hnh 3.10)

t vo m hnh khi Step lm tn hiu tham kho, khi Scope quan st p

ng. Sinh vin hy gn tr cho tt c cc thng s ca m hnh, thc hin m phng v
quan st p ng (Hnh 3.11).
Hy thay i ng vo m hnh bng khi to xung vung. M phng, quan st kt qu
v nhn xt.
T CHN
1. Sinh vin hy tnh o hm cp 2 ca hm y = xe(
qu bng symbolic.

) bng tay v kim chng kt

1 x2

3. Tnh tch phn sau v kim chng kt qu bng symbolic: e x

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Symbolic v Simulink

Hnh 3.11 - M hnh Simulink hon chnh ca h iu khin v tr motor DC

3. Xy dng m hnh h thng xe la cho bi phng trnh:

M1
M2

d2x1
dt

d2x2
dt

= F k(x1 x2) M1g

= k(x1 x2) M2g

dx1
dt

dx2
dt

(Hnh 3.12 Photo courtesy: Dr. Howard Blackburn)

Trong cc thng s tng trng nh sau:

M1=1 kg l khi lng toa ko;
M2=0.5 kg l khi lng toa khch;
k=1 N/sec l cng l xo kt ni gia 2 toa;
F=1 N l lc tc ng ca u my (ng vo m hnh);
=0.002 sec/m l h s ma st ln;
g = 9.8 m/s^2 l gia tc trng trng
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Symbolic v Simulink

x1, x2 v tr 2 toa (ng ra).

Hnh 3.13 M hnh ton ca h thng xe la

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