Simulink Basics

SIMULINK
Basics

Matlab/Simulink
Dipl.-Ing. U. Wohlfarth

Simulink Basics
Content
Whats SIMULINK?
SIMULINKLibraries Sources, Sinks und Math
Simulation parameters
Algorithms for numerical integration
SIMULINKLibraries Signals&Systems, Subsystems

Matlab/Simulink
Dipl.-Ing. U. Wohlfarth

SIMULINK Basics
Whats Simulink?
Graphical modelling of dynamic systems by signal flow
graphs
Addition to MATLAB (Toolbox)
SimulinkAdditions: Blocksets (SimPower-Systems,
SimMechanics)
Sine Wave

Clock
Product1
80

Gain

Product3

eu
Math
Function

Product2

Mux

gedaempfte
Sinusschwingung

Gain1

Constant

Matlab/Simulink
Dipl.-Ing. U. Wohlfarth

SIMULINK Basics
Starting SIMULINK
Blocks are basic elements

Blocks characterized by input, output, name, icon

Double click opens

Block P arameters dialog

Matlab/Simulink
Dipl.-Ing. U. Wohlfarth

SIMULINK Basics
SIMULINK block libraries Sources and Sinks
Block library Sources:
Generation of signals
Import data from MATLAB
workspace
Import of data from files

untitled.mat

Step

Signal Sine Wave

Generator

From File

1
In1

Constant

simin

Ramp

Repeating
Pulse
Generator Sequence

From
Workspace

Block library Sinks:

Graphical display of signals
Write data to MATLAB
workspace
Write data to files

untitled.mat
To File
Scope XY Graph

simout

1
Out1

To Workspace

Matlab/Simulink
Dipl.-Ing. U. Wohlfarth

SIMULINK Basics
Example for Sources and Sinks

Signal 1

Signal 2

1
s
Integrator

Scope

Signal Builder

Signal Builder : bsp sigbuild.mdl

Signal Builder Dialog box for group of three signals

Matlab/Simulink
Dipl.-Ing. U. Wohlfarth

SIMULINK Basics
SIMULINK block library Math Opertions
Block library Math:
Arithmetic, logical and relational operators
Mathematical and trigonometric functions
etc.
1
eu
Product

Math
Function

Sum

Gain

AND

Logical
Operator

Slider
Gain

<=

sin
Dot Product

Trigonometric
Function

K*u

Relational
Operator

Matrix
Gain

Matlab/Simulink
Dipl.-Ing. U. Wohlfarth

SIMULINK Basics
Examples for Math Operations

Simulink model bspmath.mdl of equation

1
t
f (t) = 80 e 80 sin (0.25t + )
3

Sine Wave

Clock
Product1
80

Gain

Product3

eu
Math
Function

Product2

Mux

gedaempfte
Sinusschwingung

Gain1

Constant

Matlab/Simulink
Dipl.-Ing. U. Wohlfarth

SIMULINK Basics
Simulation: parameters and solvers
Configuration
Parameters
dialog box

Solver pane:
Specify start and stop time of simulation
Solvers for numerical integration
Output options
Matlab/Simulink
Dipl.-Ing. U. Wohlfarth

SIMULINK Basics
Numerical integration of ODE
Inhomogeneous linear ordinary differential equation:
u(t)

DGL

y(t)

y(t)

= f (u(t), y(t))
tn+1
Z

Integration:

yn+1 = yn +

f (u(t), y(t))dt
tn

Numerous methods:

Euler method
Heuns method
Other RungeKuttamethods
AdamsBashforth methods

Matlab/Simulink
Dipl.-Ing. U. Wohlfarth

SIMULINK Basics
Numerical integration of ODE
Euler method (explicit)
y
y1
dy
y(t1)
y0

hy0

y(t)

y0
h
t0

t1

y1 = y0 + h y0
Matlab/Simulink
Dipl.-Ing. U. Wohlfarth

10

SIMULINK Basics
Numerical integration of ODE
RungeKutta method
y

P3(t2) = y2
y1

y1
y0

P3(t)

y0
h
t0

t1

t2

2h
y2 = y0 +
[y0 + 4y1 + f (u2, y2P )]
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Matlab/Simulink
Dipl.-Ing. U. Wohlfarth

11

SIMULINK Basics
Numerical integration of ODE
AdamsBashforth method
y
yn

P2(tn+1)

yn-1

P2(t)

yn-2
h
tn-2

tn-1

tn

tn+1

h
yn+1 = yn +
[23yn 16yn1 + 5yn2]
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Matlab/Simulink
Dipl.-Ing. U. Wohlfarth

12

SIMULINK Basics
Solver: integration algorithms in MATLAB
Variablestep solver:
use variable step size
allow error control & detection of zero crossings
for continuous-time, non-stiff systems:
ode45 (first try), ode23, ode113
for continuous-time, stiff systems:
ode15s, ode23s, ode23t,ode23tb
for discrete-time systems:
discrete (Variablestep)
Matlab/Simulink
Dipl.-Ing. U. Wohlfarth

13

SIMULINK Basics
Solver: integration algorithms in MATLAB
Fixedstep solver:
use fixed step size
no error control
no detection of zero crossings
for continuous-time systems:
ode5, ode4, ode3, ode2, ode1
for discrete-time systems:
discrete (Fixedstep)
Matlab/Simulink
Dipl.-Ing. U. Wohlfarth

17

SIMULINK Basics
Simulation: parameters and solver methods
Configuration
Parameters
dialog box

Data Import/Export pane:

Initialization
Load data from Workspace
Write data to Workspace
Matlab/Simulink
Dipl.-Ing. U. Wohlfarth

18

SIMULINK Basics
Simulation: parameters and solver methods
Configuration
Parameters
dialog box

Diagnostics pane:
Control of warning and error messages
Set simulation options
Matlab/Simulink
Dipl.-Ing. U. Wohlfarth

19

SIMULINK Basics
Simulation
Start and stop of simulation
from SIMULINK window
from MATLAB Command Window
set_param(sys, SimulationCommand, cmd)
get_param(sys, SimulationStatus)
[t,x,y] = sim(model, timespan, options, ut)
options = simset(property, value, ...)
newopts = simset(oldopts, property, value, ...)
struct = simget(model)

Example:
[t,x,y] = sim(m1,[],simset(simget(m1),Solver,ode23,MaxStep,0.01))
Matlab/Simulink
Dipl.-Ing. U. Wohlfarth

20

SIMULINK Basics
Error handling

Simulation
Diagnostics
Viewer

upper part: error information

lower part: complete text of error message

Matlab/Simulink
Dipl.-Ing. U. Wohlfarth

23

SIMULINK Basics
SIMULINK block library Signal Routing
Block library Signal Routing:
Date saving
A

Data Store
Memory

Data Store
Read

Data Store
Write

Connect and selection of signals

etc.
[A]

Mux

Demux

Bus
Selector

Demux

Matlab/Simulink
Dipl.-Ing. U. Wohlfarth

Selector

Hit
Crossing

[1]

From

IC

[A]
Goto

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SIMULINK Basics
Subsystems
Subsystems:
Structural order of complex models
Combining blocks of similar function
hierarchic structuring
Creation by
1. menue item Edit/Create Subsystem
2. block library Subsystems

Matlab/Simulink
Dipl.-Ing. U. Wohlfarth

25

SIMULINK Basics
SIMULINK block library Subsystems
Block library Subsystems:

In1

Out1

Subsystem

In1

Out1

In1

Atomic Subsystem

Triggered
Subsystem

In1

while { ... } Out1

IC

Out1

FunctionCall
Subsystem

In1

Out1

Out1

If Action
Subsystem

In1

function()
In1

Action

Out1

if(u1 > 0)

While Iterator
Subsystem

u1
else

If
Enabled
Subsystem

etc.
Matlab/Simulink
Dipl.-Ing. U. Wohlfarth

26

SIMULINK Basics
Conditionally executed subsystems / Masking
Conditionally Executed Subsystems
Execution controlled by control signal
comprise Enable or Trigger
Masking of subsystems
building a new block from a subsystem
easier parametrization of complex subsystems
Setting up of user defined libraries
Matlab/Simulink
Dipl.-Ing. U. Wohlfarth

27

SIMULINK Basics
Masking of subsystems
Example bspmask.mdl
x

m
Steigung

Matlab/Simulink
Dipl.-Ing. U. Wohlfarth

yAchsenabschnitt

y=mx+b

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