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- 1. 1 © 2012 The MathWorks, Inc. Introduction to Control System Design & Analysis Using MATLAB & Simulink Chirag Patel Application Engineer – Control System
- 2. 2 Key Takeaways Single Environment for Plant Modeling, Controller Design and Analysis Efficiently Design Controller Logic using Interactive Design Tools Achieve Overall System Performance Goals using Optimization- Based Techniques
- 3. 3 Control System Design Process Know your plant/system - Linearization Design the controller with linear plant model Test Controller in Real-Time Test controller with non-linear plant in closed- loop Add State-machine & Supervisory Logic
- 4. 4 Multi-Domain Plant Modeling using Simulink and Simscape Plant Modeling & Linearization Controller Design & Stability Analysis Test Controller in Real-Time Closed-Loop System Analysis Add State-Machine & Supervisory Logic Simulink is an environment used by system and controls engineers for multidomain system simulation & embedded algorithm development Simscape enables physical modeling of multidomain physical systems Eases process of modeling physical systems – Build models that reflect structure of physical system – Leverage MATLAB to create reusable models Demo
- 5. 5 Plant Model in Simulink Simulink Advantages: • Environment for Model-Based Design for Dynamic and Embedded Systems • Model, Simulate, Visualize & Analyze Results, Generate Code & Implement
- 6. 6 Plant Model in Simscape Simscape Model Advantages: • Easier to read than equations • Quicker to create • More intuitive – easier to explain to other engineers R L Kt,Ke J,b θ i
- 7. 7 Multi-Domain Plant Modelling using Simscape Plant Modeling & Linearization Controller Design & Stability Analysis Test Controller in Real-Time Closed-Loop System Analysis Add State-Machine & Supervisory Logic Multidomain physical systems Simscape Mechanical Hydraulic Electrical Thermal Custom Domains via Simscape Language Pneumatic Magnetic N S SimMechanics SimDriveline SimHydraulics SimElectronics SimPowerSystems Simscape MATLAB, Simulink
- 8. 8 Model System using Measured Data Plant Modeling & Linearization Controller Design & Stability Analysis Test Controller in Real-Time Closed-Loop System Analysis Add State-Machine & Supervisory Logic System Identification Toolbox helps you estimate a model from measured data.
- 9. 9 Challenges with Nonlinear Plants Finding desired operating points or trimming the plant at multiple operating conditions Deriving linearized models at multiple operating points for large & complex system Handling systems with strong discontinuities or event-based dynamics Performing stability analysis at various operating points Checking robustness of a controller against plant uncertainties
- 10. 10 Find trim points using optimization methods Calculate at specific times or events during simulation Automatically generate MATLAB code from the Graphical User Interface Nonintrusive Trimming & Linearization of Plant Models Plant Modeling & Linearization Controller Design & Stability Analysis Test Controller in Real-Time Closed-Loop System Analysis Add State-Machine & Supervisory Logic Demo
- 11. 11 Linearize without having to modify model structure Linearize whole model, portion of model, single block, or subsystem Specify linearization behavior of any number of blocks in the model Nonintrusive Trimming & Linearization of Plant Models Plant Modeling & Linearization Controller Design & Stability Analysis Test Controller in Real-Time Closed-Loop System Analysis Add State-Machine & Supervisory Logic Demo
- 12. 12 Compute frequency response for models with strong discontinuities or event-based dynamics Verify results of a linearization Study the effects of excitation signal amplitude on nonlinear system’s gain and phase characteristics Simulation-Based Computation of a Simulink Model Frequency Response Plant Modeling & Linearization Controller Design & Stability Analysis Test Controller in Real-Time Closed-Loop System Analysis Add State-Machine & Supervisory Logic
- 13. 13 Easy Tuning of Single-Loop and Multi-Loop Controllers Directly in Simulink Plant Modeling & Linearization Controller Design & Stability Analysis Test Controller in Real-Time Closed-Loop System Analysis Add State-Machine & Supervisory Logic Tune gain, transfer function, zero- pole-gain, state-space, and PID blocks in SISO loops Automatically identify relevant control loops and launch preconfigured session of SISO Design Tool Use graphical, automatic, and optimization-based tuning methods Save design for easy retrieval and update of Simulink controller parameters Demo
- 14. 14 Interactive Tuning of PID Controllers Plant Modeling & Linearization Controller Design & Stability Analysis Test Controller in Real-Time Closed-Loop System Analysis Add State-Machine & Supervisory Logic Demo
- 15. 15 Controller Tuning using Optimization Based Techniques Plant Modeling & Linearization Controller Design & Stability Analysis Test Controller in Real-Time Closed-Loop System Analysis Add State-Machine & Supervisory Logic Tune model parameters using numerical optimization to meet desired system performance Demo
- 16. 16 Checking Robustness of Controller Against Plant Uncertainties Plant Modeling & Linearization Controller Design & Stability Analysis Test Controller in Real-Time Closed-Loop System Analysis Add State-Machine & Supervisory Logic Capturing plant model uncertainty Worst-Case Stability and Performance Analysis of Uncertain Systems Automatic Tuning of Centralized and Decentralized Control Systems
- 17. 17 Challenges with Nonlinear Plants Finding desired operating points or trimming the plant at multiple operating conditions Deriving linearized models at multiple operating points for large & complex system Handling systems with strong discontinuities or event-based dynamics Performing stability analysis at various operating points Checking robustness of a controller against plant uncertainties
- 18. 18 Design & Simulate State Machines and Control Logic using Stateflow Plant Modeling & Linearization Controller Design & Stability Analysis Test Controller in Real-Time Closed-Loop System Analysis Add State-Machine & Supervisory Logic Stateflow® extends Simulink® with a design environment for developing complex state charts and flow graphs in a natural, readable, and understandable form
- 19. 19 Real-time Testing & HIL Simulation Plant Modeling & Linearization Controller Design & Stability Analysis Test Controller in Real-Time Closed-Loop System Analysis Add State-Machine & Supervisory Logic Run Simulink models in hard real-time using xPC Target Turnkey solution Complete hardware-software solution to perform rapid-control prototyping or hardware-in-loop testing
- 20. 20 Summary Plant Modeling & Linearization Controller Design & Stability Analysis Test Controller in Real-Time Closed-Loop System Analysis Add State-Machine & Supervisory Logic Explore & Research Design & Development Go Real Time