Lecture 2 Introduction to Simulink

Palestine Polytechnic University

Workshop Matlab/Simulink in Drives and Power electronics – Lecture 218-21 May 2009 / 191

WorkshopMatlab/Simulink in Drives

and Power electronics

Lecture 2 : Introduction to Simulink

Ghislain REMY Jean DEPREZ



Workshop Program• 8 lectures will be presented based on Matlab/Simulink :

– 1 Introduction to Matlab

– 2 Introduction to Simulink

– 3 DC-Motor Control design

– 4 DC-Motor Chopper design SimPowerSystems

– 5 Introduction to Stateflow/Statechart

– 6 Induction Motor Inverter Control

– 7 Synchronous Motor Modeling

– 8 Synchronous Motor Control

• Two system applications (four quadrants electric drives of mechanical systems) will be used as "conducting lines" during the workshop.



? SIMULINK ?

SIMULINK is a complement of the MATLAB kernel, which gives a graphic interface to model dynamical systems using a block schematic representation. Using the numerous basic blocks available, it is possible to create simulation models without writing any lines of programming code.

Specialized libraries – Blocksets – are available for specific purposes (Ex : SimPowerSystems, FuzzyLogic, DSP-Target …)

The open architecture allows to extend the simulation environment by:- Creating customized blocs and libraries from MATLAB, Fortran, C or graphic representation,- C codes generation from Simulink simulation models

Several tools are available for the signal analysis



Getting started with SIMULINK• Objective: Simulate a DC Permanent Magnet Motor

driving a mechanic load

4

La

Ra

E

ULoad inertia JLResistant Torque TL

Speed Ω

Electrical Torque TeFriction Torque TFMotor Inertia JMTorque Constant Ke

Ia



Ke = 0.49 Nm/Atf = 0.18 N.mkf = 4.610-4N.m.sRa = 0.49 ΩLa = 4.3 mHJM = 0.0035 kg.m2

DC-SEVOMOTOR RX620J



Equations:

6

U = E + Ra.Ia + La.dIa/dtE = Ke. ΩTe = Ke.IaJ = JM + JLTF = sign(Ω).tf + kf.ΩTe = TF + TL + J.dΩ/dt

TeUΩ1

s

TL

+ --+

TF= Tf +kf*Ω

-1

Ra+La.sKe

Ke

Ia

E

J

x:

Simulation model:



Starting SIMULINK

7

1-Click "Simulink " to open the Simulink Library Browser

2- Click "Create a new model"

3- An empty new model pop-up (.mdl file)



Building the model

8

1- Select a Library

2- Select a component

3- Drag and Drop the icon into the model

4- Double Click on the icon to open the Function Block Parameters window and modify it



Add a value for each Parameters

9



Defining input signals values

10

The Most use Input Signal types are :

•Constant•Step

•From Workspace

•Signal Builder•Sin Wave



Displaying output signals

11

The Most use Output Signal types are :•Scope

•To Workspace

•Terminator

•XY Graph



Initializing the parameters of the motor

12

1- Create a M-filenamed DC_PM_motor_init.m

2- Run this M-file

The values of Ra, La, Ke, tf and kf are then stored in the workspace.



Setting the Simulation Parameters

13

1- Click “Simulation”, then “Configuration Parameters”

2- Modify the value of the Stop time

3- Use a Type of Solver :•Fixed-step•Variable-step

4- Select a Solver :The Most used are :- Ode1 (Euler)

for Real-Time in Fixed-step- Ode23s (stiff/Rosenbrock)

for stiff in Variable-step

5- Select a step size



Starting simulation

14

End of simulation



Displaying results of Simulation: Scope

15

Autoscale

Parameters

! By default, the number of points recorded is limited to the 5000 last points !!!

(see parameters)

Zoom



Saving data to workspace

16

The "To Wokspace" function blockallows the same saving of data, without screen displayUse Array Format for easier use

Solution 2:

Solution 1: The Scope Parameters

time

w



Creating a Subsystem (1/3)

17

1- Select the componentswhich will be inside the Subsystem.

2- Select "Create Subsystem"




18

3- Model is modifyautomaticaly

4- Inside the SubsystemConnections are added:

- Input Port - Output Port

Subsytem Port names are the Port names




19

5- Rearrange the iconsRename the subsystemRearrange and rename inputs and outputs

This subsystem canbe insert in a library(see practice 3)

Documents

Lecture 2 Introduction to Simulink