System Design and Simulation Using

Simulink

Prasanna Deshpande
Application Engineering,
Control Design and Automation
MathWorks India

© 2014 The MathWorks, Inc.1

Multi-domain System Design and Simulation

2
Today’s Example: Wind Turbine System

Pitch
Wind
Blades

Nacelle
Hub Geartrain Generator

Rotor
Speed
Generator
Speed
Yaw

Tower Grid

3
Traditional Development Process

Requirements and Specifications

Requirements are
not integrated in
design process

Design and Implementation

Separate simulation
tools are difficult to
Embedded
Control Software Mechanical Electrical integrate

Errors are found too

Integration and Test late in the process
using expensive
prototypes

4
Model-Based Design Process

Simulation Model
Requirements Save time by
and developing in a single
Specifications simulation environment
Control Electrical
Produce better designs
by continuously
Embedded comparing design and
Software Mechanical specification

PLC HIL Lower costs by using

HIL tests and fewer
hardware prototypes

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Challenges Involved in Modeling Complex
Multi-domain Systems

 Modeling different components of the multi-domain

system

 Integrating multi-domain components into single

simulation model

 Designing and testing of control strategies at simulation

model and in real time

 Managing models and data, managing versions of

multiple models, testing - analysis and reporting
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System Level Model of Wind Turbine

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Agenda

 Modeling Dynamic Systems Using Simulink

 Modeling Multi-domain Systems Using Physical

Modeling Approaches

 Automatically Estimating Model Parameters Based On

Test Data

 Re-using System Level Simulations for Performance

and Design Trade-off Studies

8
 Different Approaches for Modeling Dynamic
Systems

Modeling Approaches

First Principles Modeling Data-Driven Modeling

Physical Networks Statistical Methods

Programming (Model Based System
(MATLAB, C) (Simscape and other
Physical Modeling Calibration Toolbox) Identification
(System Identification
Block Diagram products) Toolbox)
(Simulink)

Modeling Language Neural Networks

(Simscape language) (Neural Network
Toolbox)
Symbolic Methods Parameter Tuning
(Symbolic Math (Simulink Design Optimization)
Toolbox)

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Modeling Dynamic Systems With Simulink

Model and Simulate Visualize and Analyse Results

Generate Code
Manage Design Data
Simulink
SLX
Model 1
FileSLX
FileSLX Model 2
File
Model 3

SLDD
FileSLDD
File
SLDD Global Data
File

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Agenda

 Modeling Dynamic Systems Using Simulink

 Modeling Multi-domain Systems Using Physical

Modeling Approaches

 Automatically Estimating Model Parameters Based On

Test Data

 Re-using System Level Simulations for Performance

and Design Trade-off Studies

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Modeling Multi-domain System

Supervisory Control
Control Control Control
Mechanical Algorithm Algorithm Algorithm
System

Hydraulic Driveline Electrical

System System System

Electrical
+- Control Plant
System

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Simulating Multidomain Physical Systems in
One Environment
 Simscape enables modeling of multiple domains in one
environment:
– Connect domains with physical connections

 Simulink integration enables modeling

of domains not yet covered in Simscape

A B
V+

V-
T P T
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 SimPowerSystems
Physical Systems in Simulink

SimElectronics
SimMechanics

SimHydraulics

SimDriveline
Simscape
Mechanical Hydraulic Electrical
Simscape
MATLAB, Simulink
SimPowerSystems

Thermal Pneumatic Magnetic

SimHydraulics
Liquid
N S

Custom Domains via

Simscape Language

Multidomain physical systems

Electrical power systems Fluid power and control

SimElectronics
SimMechanics

SimDriveline

Multibody mechanics (3-D) Mechanical systems (1-D) Electromechanical and

electronic systems 14
 Different Approaches for Modeling Dynamic
Systems

Modeling Approaches

First Principles Modeling Data-Driven Modeling

Physical Networks Statistical Methods

Programming System
(MATLAB, C) (Simscape and other (Model Based
Physical Modeling Calibration Toolbox) Identification
(System Identification
Block Diagram products) Toolbox)
(Simulink)

Modeling Language Neural Networks

(Simscape language) (Neural Network
Toolbox)
Symbolic Methods Parameter Tuning
(Symbolic Math (Simulink Design Optimization)
Toolbox)

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Agenda

 Modeling Dynamic Systems Using Simulink

 Modeling Multi-domain Systems Using Physical

Modeling Approaches

 Automatically Estimating Model Parameters Based

On Test Data

 Re-using System Level Simulations for Performance

and Design Trade-off Studies

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 Estimating Parameters Using
Measured Data

Model:

A B
AreaA AreaB
A B
AreaV

T P T
Problem: Simulation results do not
match measured data because
parameters values are incorrect AreaA AreaB AreaV
0.0176
0.025 0.0106
0.02 200
175
Solution: Use Simulink Design
Optimization to automatically tune
model parameters 17
Modeling Multi-domain System

Supervisory Control
Control Control Control
Mechanical Algorithm Algorithm Algorithm
System

Hydraulic Driveline Electrical

System System System

Electrical
+- Control Plant
System

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 Possibilities for Compensator Design

 Linear Control Theory  Specify System Response

– Linearize system using Simulink – Specify response
Control Design
characteristics
– Perform linear control design with
Control System Toolbox – Automatic tuning using
– Retest controller in nonlinear system Simulink Design Optimization

+- Control +- Control

Ax+Bu
Root Locus Bode Plot

Real Axis Frequency

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 Model the Supervisory
Control of the Wind Turbine

Model:

wind > cut in speed && Startup

park brake = 0
turbine > Generating
park brake = 0
wind < cut out speed pitch brake = 0 min speed pitch brake = 0
generator = 0 generator = 1

wind spd < min spd

|| wind spd > max spd
Turbine spd || turbine spd < min spd
Park < park spd Brake
park brake = 1 park brake = 0 || turbine spd > max spd
pitch brake = 0 pitch brake = 1
generator = 0 generator = 0

Problem: Create a supervisory Solution: Use Stateflow to

controller that sets the state of model the event-based
various components based on Plant controller
conditions 20
System Level Model of Wind Turbine

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Large Scale Modeling in Simulink

o Componentization

Model Libraries
Subsystems Referencing

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 Large Scale Modeling in Simulink
o Variant Subsystems

Model Variants, • Fewer

Similar subsystems with slight
models
Variant Subsystems  Easy
variations
switching between variants
• Less
Design Choices
errors
and
• Multiple Simulation workflow
Variant Manager options
 Configurable software
with single code base

System-Level Variant Management 24

Large Scale Modeling in Simulink
o Simulink Projects

• Managing project files and connecting with source control software

• Connection with Source Control Software

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Agenda

 Modeling Dynamic Systems Using Simulink

 Modeling Multi-domain Systems Using Simscape and

Add-ons

 Automatically Estimating Model Parameters Based On

Test Data

 Re-using System Level Simulations for

Performance and Design Trade-off Studies

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 System Level Simulation Helps Detect System
Integration Issues In Simulation

Model:

Mechanical Controls
Park
Hydraulic Supervisory
Logic Spin

Drag
Electrical Aero- Lift
dynamics
Wind

Problem: Test for system

integration issues before
building hardware prototypes Actuator System
Inputs
(Ideal) (Include)
Solution: Use the Simulink
environment to integrate the Actuator System
(Realistic) (Ignore)
separate systems in simulation 27
Summary: System Modeling and Simulation

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 Summary: System Modeling and Simulation

Continuous-time
Dynamic systems
Environment models
Analog behavior

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 Summary: System Modeling and Simulation

Continuous-time

Discrete-time
Difference Equations
DSP
Image/video
Digital control
System objects

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 Summary: System Modeling and Simulation

Continuous-time

Discrete-time

Physical models
Differential Algebraic Equations
Electronics
Mechanics
Hydraulics
Other domains through Simscape

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 Summary: System Modeling and Simulation

Continuous-time

Discrete-time

Physical models

State machines
Control logic
Mode logic

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 Summary: System Modeling and Simulation

Continuous-time

Discrete-time

Physical models

State machines

Discrete-event
Latency
Resources

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 Summary: System Modeling and Simulation

Continuous-time

Discrete-time

Physical models

State machines

Discrete-event

MATLAB
Desktop
Embedded Extended Kalman Filter

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 Summary: System Modeling and Simulation

Continuous-time

Discrete-time
10 GNVa GNVa ElectricalSubsystem

Inputs Wind GNVb GNVb GNV

Physical models GNVc GNVc

Turbine Bank 1 Station 1

Turbine Input 1
Wind GNV
State machines
Grid

10 GNVa GNVa ElectricalSubsystem

Discrete-event Inputs Wind GNVb GNVb GNV

GNVc GNVc

Turbine Bank 2 Station 2

MATLAB Turbine Input 2
Wind

Architecture
Models
Subsystems
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 Summary: System Modeling and Simulation

Continuous-time
• Integration of “home-grown” models,
using C, Fortran, or other language
Discrete-time
• Co-simulation integration with
domain-specific modeling tools for
Physical models
mechanical, hydraulic, electrical, etc.
(over 100 of them integrate with Simulink….)

State machines

Discrete-event

MATLAB

Architecture

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 Thank you for attending the session

Details Session / Demo Booth

Modeling Power Electronics, Electrical 2:30pm, Same Hall,
Systems, Physical Modeling Vivek Raju
Control Design Techniques 4:30pm, Same Hall,
Real Time Testing Chirag Patel
Customization of physical components Demo Booth on HVAC System
(Simscape Language) Dhirendra Singh
Code Generation for Embedded Demo Booth on Programming
Targets Embedded Targets
Antonin
Data Driven Modeling Demo Booth on Identify Plant
Dynamics and Detect Faults using
Online System Identification
Chirag Patel
SimMechanics, SimHydraulics Demo Booth of SimMechanics

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