LabVIEW Simulation Module

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 LabVIEW Simulation Module
‡ Simulate dynamic systems including controllers & plants
‡ Real-time implementation for rapid control prototyping or hardware-in-the-loop
simulation

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 LabVIEW Simulation Module Benefits
‡ Complete simulation and real-time implementation capability - stay in
one environment from design to test to implementation
‡ LabVIEW user interface to change and observe parameters as
simulation or control system is running
‡ Use any LabVIEW VI or programming structure inside or outside of
simulation loops:
± Integrated design and simulation, batch simulation
± DAQ, RIO, Vision, or CAN for I/O and feedback
‡ Easily create parallel and multirate simulation or control loops

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LabVIEW Simulation Module Overview
‡ Linear systems ± continuous and
discrete time
‡ Nonlinear systems blocks and lookup
tables
‡ Signal generation and graphing
‡ Fixed-step, variable step, and stiff
solvers
‡ Trimming and linearization
‡ Model hierarchy
‡ Integration with Formula node and
MathScript node (through subVI)
‡ Integration with 3D picture control for
system visualization

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-ardware Options for LV Sim
‡ Offline simulation ± desktop computers
‡ Real-time simulation and control:
± PXI
± Desktop computers
± CompactRIO
± Compact FieldPoint
± Single board computers (SBC)
± 32 bit processors w/ LV Embedded (pioneer stage)

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Little or No Learning Curve for The Mathworks, Inc.
Simulink® Software Users

‡ LabVIEW Simulation Module

‡ The Simulink® software environment

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LabVIEW is the original «
Little or No Learning Curve for The MathWorks, Inc. Simulink® Software
Users
LabVIEW The Simulink® software
Simulation Module environment

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 LabVIEW Loop Structures
‡ LabVIEW While Loop
‡ LabVIEW Timed Loop
± precise timing
‡ LabVIEW Simulation Loop
± precise timing + ODE solver

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Simulation Parameter Configuration

‡ Interactive configuration
‡ Programmatic
configuration

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LabVIEW Simulation Module Demo

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 Debugging and Errors
‡ Create indicator for error output of
Simulation Loop
‡ Utilities>>Get Simulation Parameters,
create indicator
‡ Execution highlighting
‡ Breakpoints
‡ Probes
‡ Custom probes
‡ Single-stepping

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Software Tip for LV Sim

‡ The parameters for each block can be set to be

set to:
± Configuration Dialog Box
± Terminal
‡ Allows for parameters to be set through data
flow programming and mixing of toolkits and
modules in one VI

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Simulation Icon Styles
‡ Can change icon style of
blocks within simulation
loop or subsystem
± Static
± Dynamic
± Text Only
± Express
‡ Right-click on block and
choose ³icon style´

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Simulation Timing Capability
‡ Can slow down time to study fast dynamics in detail
(collision between two cars)
‡ Can speed up time to study slow dynamics efficiently
(temperature control of large water tank)
‡ Can tie simulation time to wall clock (choose auto
period)
‡ Finish time can be infinite to allow user to adjust
dynamics or control gains as simulation is running

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Simulation Exercise I ± sw timing

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Simulation Exercise II ± hw timing

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Simulation Exercise III - hw timing w delay

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Ordinary Differential Equation (ODE) Solvers
‡ ODE solvers approximate solution to
continuous time systems described
by differential equations
‡ Considerations in choosing solver:
± Accuracy vs computational speed {
‡ -igh-order ODE solvers more accurate †

{
‡ Low-order ODE solvers are faster 
± Fixed time step vs. variable time step {
Õ † {Õ
‡ Variable time step are faster
‡ Fixed time step recommended for real-time
implementation
± Stiff systems (transients vary more quickly than
problem solution)
‡ dt is step size of ODE solver

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Solver Types:
‡ Fixed step size:
± Runge-Kutta 1 (Euler)
± Runge-Kutta 2
± Runge-Kutta 3
± Runge-Kutta 4
‡ Variable step size:
± Runge-Kutta 23
± Runge-Kutta 45
± BDF (moderately stiff systems)
± Adams-Moulton
± Rosenbrock (some stiff systems)
‡ Discrete States Only (fixed time steps for discrete-time systems)

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Simulation Discontinuities
‡ ODE solvers assume that signals and derivatives of
signals are continuous
‡ Discontinuities in nonlinear and discrete systems are
accounted for by LV Sim
‡ For other discontinuities, use Detect Zero Crossing
function or configure Integrator function to reset when
signal crosses zero

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÷ontinuous Linear Systems

‡ Following models supported:

± State space
± Transfer function
± Zero pole gain
‡ Integrator
‡ Derivative
‡ Transport Delay

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 Discrete Linear Systems
‡ Following discrete models supported:
± State space
± Transfer function
± Zero pole gain
‡ Discrete Integrator
‡ Discrete Derivative
‡ Discrete Zero Order -old
‡ Discrete First Order -old
‡ Discrete Filter

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Nonlinear Systems and Lookup Tables
‡ Backlash
‡ Dead Zone
‡ Friction
‡ Quantizer
‡ Rate Limiter
‡ Relay
‡ Saturation
‡ Switch
‡ Detect Zero ÷rossing

‡ Lookup Tables (1,2, & 3D)

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Signal Arithmetic
‡ Gain
± Reverse direction
‡ Summation
± ÷hange signs
± Add or null inputs
± ÷hange shape
‡ Multiplication
± ÷an add inputs
± ÷hange shape

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Exercise: Formula Node & Prog Structures for
Phase Plane Analysis

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LabVIEW for Design, Prototype and Deploy
LabVIEW conditional compiling
technology provides for:
± Model reuse
± Test reuse
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 Demonstration: ÷ompactRIO demo with
LabVIEW Simulation Module and RIO I/O
Real-Time

FPGA

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Implementation ÷hoices

‡ LabVIEW ÷ontrol Design Toolkit Implementation

VIs running in Timed Loop
‡ LabVIEW Simulation Module

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