MATLAB Hybrid simulation platform

Hybrid control algorithm MATLAB simulationplatform overviewMATLAB Hybrid simulation platform, that is, the hardware put into the simulation loop in the loop simulation system for process control of the development and testing. Platform embedded controller provides three methods, in particular, can use MATLAB language has greatly enhanced the flexibility of the platform. In order to build simulation system for process control systems must be addressed as a virtual controller PC, the environment and in the Windows operating system to achieve real-time control to achieve these two problems. We first elaborate simulation system for process control system principle, and finally introduced the embedded platform control algorithm method and the experiment results verify the effectiveness of the platform.Hybrid simulation platform process control theory: (1) numerical calculation, based on more than 600 MATLAB provides some commonly used mathematical and engineering functions. The numerical computation of these functions are optimized for matrix operations, you can use it to replace the underlying programming language. Maintain the same performance in the case, the programming effort is very small, value calculated using the LAPACK and BLAS, FFTW other excellent math library, so the calculation efficiency is further improved. MATLAB contains the main mathematical functions are linear algebra and matrix operations, Fourier transform and statistical analysis, solving differential equations, sparse matrix operations, and trigonometric and other elementary mathematics, etc. In addition, use of MATLAB applications with continuous expanded to add a function for a number of specific areas. (2) Algorithm development, computing power, easy to use programming language and rich mathematical functions to the most suitable for MATLAB for algorithm development. Typical applications include: data analysis, signal processing, image processing, system modeling and advanced algorithm research. Whether the user is using the existing algorithms or developing their own, based on MATLAB provides a common platform. MATLAB for algorithm development using the mathematical expression of the same writing as usual User-based algorithms developed in MATLAB integration to external systems running. Once the user'salgorithms and simulation through the writing and debugging, MATLAB compiler and the C / C + + Math Library MATLAB application will be automatically converted to portable ç and C + + code tool. For signal processing, control system design and other applications, MATLAB toolbox providing a range of advanced technology. Toolbox far beyond the scope of provision of some basic algorithms: they provide a learning, research, innovation and cutting-edge theory and technology arena. Algorithm toolbox to provide a neural network toolbox, optimization toolbox, system identification toolbox, robust control toolbox, model predictive control toolbox, the control system toolbox, fuzzy logic toolbox. (3) Data analysis and visualization, through the MATLAB software, users can analyze all types of data, including signal, image, polynomials, time course, data and multi-variable linear systems. From the analysis results can be summed up as a model for the further development of the algorithm and the base. In addition, users can quickly convert the code fragment and knowledge can be reused in automated analysis routines, no variable declarations and the definition of dimension, can write programs quickly. Based on MATLAB provides a convenient data access tools. For example, the data acquisition toolbox allows users to send real-time measurement data directly into MATLAB for analysis, database toolkit to allow users to access consistent with the ODBC and JDBC in the database, while M c and the Fortran language documents and procedures in handling text and binary file I / O function, then allow the user to handle any format. And related MATLAB toolbox contains a scientific computing need of professional graphics. The raw data from the two-dimensional curve to the contour map with markers and interactive graphical user interface, these tools provide a model visualized capabilities to help users understand complex systems. In particular, provides a MATLAB-based three-dimensional scalar and vector visualization capabilities, including display equivalence face and flow diagram. This capability enables scientists and engineers to a large number of complex and multidimensional data visualization.MATLAB real-time simulation environment, RTW is to provide a real-time based on MATLAB other components of the software for seamless connection, not only to meet the designers in the system concept and program design needs, the technology for the system or perform different functions in real-time operating system provides the convenience of experiments, and for implementation of concurrent engineering to create a good environment. It directly from the SIMULINK simulation model produces optimized, portable and personalized code, and automaticallygenerate a variety of configurations depending on the target under the program environment, the hardware running dynamic system model also supports model-based debug.Real-time using the RTW of the design of test hardware, users can shorten the development cycle and reduce costs. When the user model in SIMULINK environment and get satisfactory simulation results, can be a RTW with the goal of rapid prototyping (such as RTWT target) joint use. The goal of rapid prototyping of physical systems and users connected. Users can use the SIMULINK model as the interface to connect the physical target to complete system testing.RTW implementation mechanism is a complex process, where only from the RTW process automated building applications that were analyzed. RTW generated application process diagram (model for the establishment of the SIMULINK name). RTW construction application process by an M-file in order to control for most of the target, the default command is make.rtw.The process is as follows: 1. model, first analyzes the SIMULINK model to analyze the process includes the following main tasks(1) Numerical simulation parameters and molding parameters;(2)Passing the signal width and sampling time;(3) determine the module block diagram of the implementation of the order;(4) Calculation of the size of the vector (mainly for S-Functions module box).In this process, RTW read the model file modle.mdl, and then compile it as a model of internal description. This description is stored in ASCII files and language-independent, name model.rtw. We can use that file as input for the next process, it will be automatically deleted after the code generation.2. call TLC program to generate C code, at this stage, TLC stored in modle.rtw in the internal model description into a specific object code. TLC is an interpreted programming language, programming language design that the only purpose is to model description into the code. TLC in the compilation process of the implementation of multiple object files (TLC script file), and TLC library procedures. Object file is divided into two types: one is the target file system, one is the module object file. The target file to specify how to modle.rtw used as an input, generate code from modle.Real-Time Workshop target binding environment for a variety of target file system, Figure 3.5 shows all the available system target file. In this system, our targetenvironment is windows, the selected target rapid prototyping RTWT, then the building process before, we specify rtwin.tlc as TLC used in the compilation process script file.3.Generate customized M-file, in this step, will have a custom template file (M-file), the file name is model.mk.. Generated makefi1e used to guide the make utility to compile and link model, which generates source code. RTW is a system-generated template (system template M-file) generated modle.mk, this template file name is system.tmf (syetem is the target name is selected), such as in the previous step, we selected rtwin.tlc as Our system target file, also called rtwin.tmf selected our system as a template file. Template file (M-file) allows users to customize the compiler, compiler options and other information during the process to establish, if the compiler used in different, then the makefile file will be different, such as when the target is Windows, the system target file is rtwin . tlc, but with the visual C \ C + + compiler, the system template file is win_vc.tmf, and choose watcom, the system of the template file is win_watc.tmf. molde.mk only system.tmf a copy, you can modify this file to customize the build process of the process.RTWT (Real-Time Windows Target) is to provide and distribute a MATLAB RTW system framework based on the additional products are shipping 将turn its machines into as a PC system with the aim of rapid prototyping one kind of methods for Kong real-time testing and development. In this environment, a PC, both as a host, but also as the target machine there. For RTWT, SIMULINK and the generated code running on the same PC, the interface allows users to run PC-processor running on Windows NT or Windows 95/98/2000/XP operating system, while the code generated by RTW .RTWT supports many types of I / O device boards (including the two types of ISA and PCI). Users only need to install related software, a compiler and I / O device card, a PC machine can be used for real-time system and through I / O devices and external devices to connect. Core through the I / O driver module as the interface and I / O hardware, communication, and to check I / O board installation is correct.SIMULINK and Real-time communication between processes is through the SIMULINK external mode, the module to achieve. This module is to establish communication directly with the real-time kernel to start and terminate the operation of an executable program. SIMULINK models and real-time applications have maintained a checking mechanism to check real-time kernel to use this mechanism todetermine the SIMULINK model structure in the automatic code generation and real-time whether the structure of the application consistent. This ensures that the line changes when the model parameters, SIMULINK model parameters can be correctly mapped to the real-time application, the corresponding parameters.RTWT on the I / 0 board's support, in a mixed simulation systems, data collection and physical control of the physical output by I / O board to complete, then the real-time applications must have the software output data acquisition and control capability , also said that procedures have to be, and I / O board to establish a connection. The realization of this function requires RTWT support.SIMULINK model, adding input and output modules, setting and actual card Yi Di , and then build the connection is available, and need to be explained that the boards procedure does not it is involved in compilation, but only during the program, need to data or output data collected when the dynamic connection.RTWT support standard I / O boards. When the SIMULINK model to run time, RTWT from one or more input channels were sampled data as model input, and then process the data quickly, and then through the I / O boards to the external output channel delivery.RTWT provides a generic SIMULINK block library-I / O driver block library. In the MATLAB command input can see, I / O driver block library provides RTWT supported I / O board driver. Each block can be easily by setting I / O boards. The block and, like other SIMULINK block, support drag and drop. Do not support the board for RTWT can use S-function modules developed by board driver.I / O boards is provided by companies, often through the Switches or Jumpers and software vendors to set based dresses, voltage levels, and bipolar modes. In Real-Time Windows Target also offers the functions of the parameters set, the function of application and software vendors have the same flexibility.SIMULINK external mode, parameter passing mechanisms to achieve in the external mode SIMULINK no longer a system block diagram model simulation, but the current value of the parameter download to the target system. After the initial download is complete, SIMULINK to keep waiting for the state, only in the block diagram of the parameters change or receive parameters from the target machine began to move.When the parameters change diagram, SIMULINK calls an external interface M-file, the new parameter values and some other signal to an external M-file.External interface M-file execution Inter Process Communication (IPC) channel at one end of the code, the access to SIMULINK process (M-file execution process) and external procedures executable process together. M-file through this channel, the new parameter to the external program. Channel the other end of the external program execution, the client writes the new value of the parameter object parameter structure.SIMULINK information by sending a message containing the initialization parameter download operation. In the C / S structure, SIMULINK as a client, server-side external procedures. Two processes can be remote, it can be local. When the client and server is remote, when, through the TCP / IP mode transmission of data, when the client and the server is local time, use shared memory, transmission of data, the system is used in the latter way.Implementation of process control algorithms, a common simulation platform, to Jean-users to easily add their own control algorithm or control system design, process control hybrid simulation platform provides the following three control algorithm embedded methods:Applied SIMULINK controller model provides a module structure, SIMULINK provides a wide range of modules set in the SIMULINK provides a graphical user interface, as long as a simple drag and drop operation, you can use these modules to construct a complex set of controller model. In addition, SIMULINK also provides a toolbox, such as fuzzy logic and neural network toolbox of the senior class of algorithm control toolbox, use the toolbox, in combination with other modules, can build a variety of associated control algorithm model, such as fuzzy PID, PID neural network, etc., such as the fuzzy PID controller model. Use graphical user interface toolkit edit controller, intelligent controller can easily design a visual map systems.Module built using SIMULINK controller model flexibility, it looks to block diagram showing the form, and the use of hierarchical structure. Applied SIMULINK model as a visual interface controller, the controller not only allows the user to know the details of specific aspects of the dynamics, but also allows the user a clear understanding of the controller in the device, the subsystem information exchange between various parts of control interaction, for further analysis to improve the controller provides the convenience.Write C language S-function for control algorithm, in practice, often find that some algorithm with ordinary SIMULINK blocks is not easy to build, which you can use the SIMULINK S-function format support, S-function as an extension tool forSIMULINK has procedures format, can be used MATLAB, C / C + +, Fortran and other languages. However, in real-time simulation of the process need to SIMULINK models into C code and generates separate files, only the C / C + + language's S-function supports this feature, so the algorithm extensions must use C / C + + language, S- function.S-function, working principle and the basic SIMULINK simulation of a similar principle, every SIMULINK blocks have input u, output y, state vector x and the other corresponding to the three stages of simulation methods. SIMULINK model through the cycle of calling a particular method of each module to complete the calculation of output value, such as, update discrete state values, calculating a state of differential and other tasks. In the S-function with the SIMULINK simulation is provided corresponding to different stages of the callback function. phase includes Sizes, module initializes the system since they were input dimension output dimension, the number of state variables, the definition of simulation sampling time and the role of initial state variables. Output stage modular computing system output. Loop simulation phase Update modular computing system is currently updating the value of state variables. C-S function not only has the C language to describe the function of the code embedded in SIMULINK blocks for the simulation in SIMULINK, and can easily be C language S-function module function code into pure C code.。