Simulink Homework

Simulink Tutorial
❖ Introduction
❖ Cruise Control
❖ Motor Speed
❖ Motor Position
❖ Suspension
❖ Inverted Pendulum
❖ Aircraft Pitch
❖ Ball & Beam
1
Introduction
❖ Simulink Modeling
❖ Simulink Control
2
Introduction
▪ Models are represented graphically in Simulink as block diagrams.
▪ A wide array of blocks are available to the user in provided libraries for
representing various phenomena and models in a range of formats.
▪ Simulink allows us to quickly analyze the response of complicated systems that

may be prohibitively difficult to analyze analytically.
▪ Simulink is able to numerically approximate the solutions to mathematical models

that we are unable to, or don't wish to, solve "by hand."
3
Introduction
▪ Train system
Force acting on the engine M1 Force acting on the train car M2

- Spring force k(x1 – x2) - Spring force k(x1 – x2)
- Rolling resistance - Rolling resistance
- The force generated at the
wheel/track interface
4
Introduction
▪ Free-body diagram and Newton's second law
5
Introduction
▪ Free-body diagram and Newton's second law
➢ Applying Newton's second law in the horizontal direction based on the above free-
body diagrams leads to the following governing equations for the train system.
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Introduction
▪ Constructing the Simulink model
➢ Drag two Sum blocks
7
Introduction
➢ Drag two Gain blocks
8
Introduction
➢ These Gain blocks should contain 1/M for each of the masses
9
Introduction
➢ The outputs of these gain blocks are the accelerations of each of the masses (the
train engine and car).
➢ The governing equations we derived above depend on the velocities and

displacements of the masses.
➢ Since velocity can be determined by integrating acceleration, and position can be

determined by integrating velocity, we can generate these signals employing
integrator blocks.
10
Introduction
➢ Drag a total of four Integrator blocks from the Continuous library into your model,
two for each of our two accelerations.
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Introduction
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Introduction
➢ Now, drag two Scopes from the Sinks library into your model and connect them to
the outputs of these integrators. Label them "x1" and "x2".
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Introduction
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Introduction
➢ Since there is a total of three forces acting on mass 1, double-click on the

corresponding Sum block and change the List of signs field to "|+++". The symbol
"|" serves as a spacer. There are only 2 forces acting on mass 2, therefore, we can
leave that Sum block alone for now.
15
Introduction
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Introduction
➢ The first force acting on mass 1 is just the input force, F. Drag a Signal Generator
block from the Sources library and connect it to the uppermost input of the
corresponding Sum block. Label this signal as "F".
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Introduction
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Introduction
➢ The next force acting on mass 1 is the rolling resistance force. Recall that this force
is modeled as follows.
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Introduction
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Introduction
➢ The last force acting on mass 1 is the spring force. Recall that this force is equal to
the following.
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Introduction
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Introduction
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Introduction
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Introduction
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Introduction
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Introduction
▪ Running the model
➢ Before running the model, we need to assign numerical values to each of the
variables used in the model. For the train system, we will employ the following
values.
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Introduction
➢ Create a new m-file and enter the following commands.
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Introduction
➢ Execute your m-file in the MATLAB command window to define these values.
Simulink will recognize these MATLAB variables for use in the model.
➢ Now, we need to give an appropriate input to the engine.
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Introduction
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Introduction
➢ The last step before running the simulation is to select an appropriate simulation
time.
➢ Select Model Configuration Parameters from the Simulation menu at the top of the
model window and change the Stop Time field to "1000".
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Introduction
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Introduction
33
Introduction
▪ The open-loop plant model
➢ Recall the Simulink model of the toy train system derived in the Introduction:
Simulink Modeling page and pictured below.
34
Introduction
▪ Implementing a PID controller in Simulink
➢ In order to make our Simulink model more understandable, we will first save the
train model into its own subsystem block.
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Introduction
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Introduction
➢ Next select all of the blocks in your model (Ctrl A) and select Create Subsystem from
Selection after right-clicking on the model window.
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Introduction
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Introduction
➢ Now we can add a controller to our system.
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Introduction
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Introduction
➢ Next add a Sum block from the Math Operations library.
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Introduction
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Introduction
➢ Next add a Signal Builder block from the Sources library to represent the velocity
commanded to the train.
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Introduction
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Introduction
➢ Also add a Scope block from the Sinks library and use it to replace the Out1 block for the
train's velocity. Relabeling the blocks, your model will appear as follows.
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Introduction
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Introduction
▪ Running the closed-loop model
➢ For the train system, we will employ the following values.
47
Introduction
➢ Create a new m-file and enter the following commands.
48
Introduction
➢ Execute your m-file in the MATLAB command window to define these values.
49
Introduction
▪ Extracting a model into MATLAB
50
Introduction
➢ We can now extract the model by opening the Linear Analysis Tool.
Select
51
Introduction
➢ The Linear Analysis Tool window should now appear as shown below.
52
Introduction
➢ Having extracted this model, we can now employ all of the facilities that MATLAB offers for
controller design. For example, let us employ the following commands to generate and
analyze the closed-loop system reflecting the Simulink model created above.
53
Introduction
▪ Controller design within Simulink
➢ We can launch interactive tools to tune our controller from within Simulink.
54
Introduction
➢ The first thing that needs to be done is to identify the controller block that is to be tuned.
55
Introduction
➢ Before we proceed to tune our controller, we must first identify the inputs and outputs of
the closed-loop system we wish to analyze.
56
Introduction
➢ Now that we have identified the block to tune and our input and output signals, we can
now commence with tuning the controller.
57
Introduction
➢ Clicking the Tuning Methods button, we will choose the design plots we wish to employ for
designing our controller.
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Introduction
➢
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Introduction
➢
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Introduction
➢ Then we specify the input and output signals within the New Step to plot window as
shown below.
61
Introduction
➢ Then click the Plot button. From the resulting closed-loop step response we can see that
the response is stable, but with some steady-state error.
62
Introduction
➢ Recall that adding integral control is one way to reduce the steady-state error of a closed-
loop system. In this case, adding an integrator via the controller will make the system type
1, where type 1 systems can track step references with zero steady-state error. Recall the
following form of a PI controller.
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Introduction
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Introduction
➢ The resulting closed-loop step response plot is shown below demonstrating that the train
engine is brought to rest smoothly and with zero steady-state error for a constant speed
command.
65
Introduction
➢ The control gains that have been chosen can then be applied to the Simulink model by
clicking the Update Blocks button within the CONTROL SYSTEM tab as shown above. The
simulation can then be run with this newly tuned controller. Clicking on the Scope block for
the train engine's velocity will produce a plot like the one shown below.
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Simulink Tutorial

❖ Ball & Beam

▪ Simulink allows us to quickly analyze the response of complicated systems that

▪ Simulink is able to numerically approximate the solutions to mathematical models

Force acting on the engine M1 Force acting on the train car M2

➢ Drag two Sum blocks

➢ Drag two Gain blocks

➢ The governing equations we derived above depend on the velocities and

➢ Since velocity can be determined by integrating acceleration, and position can be

➢ Since there is a total of three forces acting on mass 1, double-click on the

➢ Create a new m-file and enter the following commands.

➢ Now, we need to give an appropriate input to the engine.

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