Gio trnh MatLab

Simulink

CHNG 3: SIMULINK
Chng ny gii thiu cch thc dng Simulink thit k h thng dng s khi. Ti liu tham kho: [1] Nguyn Ch Ngn Th nghim CAD i hc Cn Th

1. Simulink
Khi ng Simulink bng cch g lnh Simulink t Command Window hay chn Start > Simulink > Library Browser.

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Hnh 3.1 Khi ng Simulink

Hnh 3.2 Ca s Simulink Sau , chn New to m hnh mi hay Open m mt m hnh c sn.

1.1.

Cc khi

Khi l cc phn t m Simulink dng to m hnh. Ta c th m hnh ho bt k mt h thng ng hc no bng cch to mi lin h gia cc khi theo cch thch hp. Khi to mt m hnh ta cn thy rng cc khi ca Simulink c 2 loi c bn: khi nhn thy v khi khng nhn thy.

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Cc khi khng nhn thy c ng vai tr quan trng trong vic m phng mt h thng. Nu ta thm hay loi b mt khi khng nhn thy c ta thay i thuc tnh ca m hnh. Cc khi nhn thy c, ngc li, khng ng vai tr quan trng trong m hnh ho. Chng ch gip ta xy dng m hnh mt cch trc quan bng ho. Mt vi khi ca Simulink c th l thy c trong mt s trng hp v li khng thy c trong mt s trng hp khc. Cc khi nh vy c gi l cc khi nhn thy c iu kin. Khi xy dng mt m hnh, thng phi copy cc khi t th vin khi ca Simulink sang ca s m hnh. lm vic ny ta theo cc bc sau: M ca s th vin khi. Ko khi ta mun dng t ca s th vin vo ca s m hnh v th. Cng c th copy cc khi bng cch dng lnh Copy & Paste trong menu Edit qua cc bc sau : Chn khi mun copy. Chn Copy t menu Edit. Lm cho ca s cn copy ti hot ng. Chn Paste t menu Edit. Simulink gn mt tn cho mi bn copy. Nu n l khi u tin trong m hnh th tn ca n ging nh trong th vin Simulink. Nu n l bn th 2 hay th 3 th sau n s c ch s 1 hay 2 v.v. c li. hin th li trn ca s m hnh, t ca s MATLAB: >>set_param(<model name>,showgrid,on) thay i khong cch li: >>set_param(<model pixels>) name>,gridspacing,<number of

nhn bn mt khi ta gi phm Ctrl v ko khi ti mt v tr khc v th. M t thng s ca khi m t thng s ca khi ta dng hp thoi Block Properties. hin th hp thoi ny ta chn khi v chn Block Properties t menu Edit. Ta c th nhn p chut ln khi hin th hp thoi ny. Hp thoi Block Properties gm : Description: M t ngn gn v mc ch ca khi. Priority: thc hin quyn u tin ca khi so vi cc khi khc trong m hnh.

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Tag: trng vn bn c lu cng vi khi Open function: cc hm MATLAB c gi khi m khi ny Attributes format string: Thng s ny s m t thng s no c hin th di icon ca khi. Deleting Blocks Mun xo mt hay nhiu khi ta chn khi v nhn phm Del. Thay i hng ca khi Ta c th xoay hng ca khi bng vo menu Format ri : Chn Flip Block quay khi 1800. Chn Rotate Block quay khi 900. nh li kch thc ca khi thay i kch thc ca khi ta a con tr chut vo mt gc ca khi ri bm v ko cho n kch thc mong mun ri th. X l tn khi: Mi khi c tn, phi l duy nht v phi cha t nht mt k t. Mc nh tn khi nm di khi. Vi tn khi ta c th thc hin cc thao tc sau y: Thay i tn khi bng cch bm chut vo tn c v nhp li tn mi. Nu mun thay i font ch dng cho tn khi hy chn khi v vo menu Format v chn Font. Thay i v tr t tn khi t di ln trn hay ngc li bng cch ko tn khi ti v tr mong mun. Khng cho hin th tn khi bng cch vo menu Format v chn Hide Names hay Show Names. Hin th cc thng s bn di khi: Ta c th hin th mt hay nhiu thng s bn di khi. lm iu ny ta nhp vo trng Attributes format string hp thoi Block Properties. Ct cc khi: ct khi khi s ta bm phm Shift v ko khi n v tr mi. Nhp v xut cc vector:
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Hu ht cc khi chp nhn i lng u vo l vector hay v hng v bin i thnh i lng u ra l vector hay v hng. Ta c th xc nh u vo no nhn i lng vector bng cch chn mc Wide Vector Lines t menu Format. Khi tu chn ny c chn, cc ng nhn vector c v m hn cc ng mang s liu v hng. Nu ta thay i m hnh sau khi chn Wide Vector Lines ta phi cp nht hnh v bng cch chn Update Diagram t menu Edit. Khi ng li Simulink cng cp nht s . M rng v hng cc u vo v cc thng s: M rng v hng l bin i i lng v hng thnh vector vi s phn t khng thay i. Simulink p dng m rng v hng cho cc i lng vo v thng s i vi hu ht cc khi. M rng u vo: khi dng khi vi nhiu u vo ta c th trn ln cc i lng vector v i lng v hng .Khi ny cc u vo v hng c m rng thnh vector vi s phn t nh ca u vo vector, cc phn t u c tr s nh nhau. M rng thng s: ta c th c t cc thng s i vi khi c vector ho thnh i lng vector hay i lng v hng. Khi ta c t cc thng s vector, mi mt phn t thng s c kt hp vi phn t tng ng trong vector u vo. Khi ta c t cc thng s vector, Simulink p dng m rng v hng bin i chng thnh vector c kch thc ph hp. Gn u tin cho khi: Ta c th gn u tin cho khi khng nhn thy trong m hnh. Khi c u tin cao hn c nh gi trc khi c u tin nh hn. Ta c th gn u tin bng cch dng lnh tng tc hay dng chng trnh. dng chng trnh ta dng lnh: >>set_param(b,Priority,n) Trong b l khi v n l mt s nguyn, s cng thp, u tin cng cao. gn u tin bng lnh ta nhp u tin vo trng Priority trong hp thoi Block Priorities ca khi. S dng Drop Shadows: Ta c th thm Drop Shadow vo khi chn bng cch chn Show Drop Shadow t menu Format

1.2.

Cc th vin khi

Cc th vin cho php ngi dng copy cc khi vo m hnh ca mnh t th vin bn ngoi v cp nht t ng cc khi c copy mi khi th vin ngun thay i.

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To mt th vin: to mt th vin, chn Library t menu con New ca menu File. Simulink s hin th mt ca s mi, c tn l Library : untitled. Thay i mt th vin c: Khi ta m mt th vin, n t ng kho v ta khng th thay i cc thnh phn ca n c. Mun m kho ta chn Unlock t menu Edit. Copy mt khi t th vin vo m hnh: Ta c th copy mt khi t th vin vo m hnh bng copy hay paste hay ko n v th vo ca s m hnh .

1.3.

Cc ng

Cc ng mang cc tn hiu. Mi ng mang mt tn hiu v hng hay vector. Mi ng ni cng ra ca mt khi vi cng vo ca mt hay nhiu khi khc. V ng ni gia cc khi: ni cng ra ca mt khi vi cng vo ca mt khi khc ta lm nh sau: t con tr chut ln cng ra ca khi u tin, con tr c dng du + Nhn v gi chut Ko con tr chut ti cng vo ca khi th hai Th chut v ng gp khc, nhn phm Shift khi v. V ng nhnh: ng nhnh l ng ni t mt ng c v mang tn hiu ca n ti cng vo ca mt khi. thm ng nhnh ta lm nh sau: a con tr chut ti ng cn phn nhnh Nhn phm chut ng thi nhn phm Ctrl Ko con tr chut ti cng vo tip theo v th chut v phm Ctrl. Tuy nhin ta c th dng phm phi chut thay v dng phm Ctrl v phm tri chut. Chn khi vo mt ng: Ta c th chn mt khi vo mt ng bng cch ko v th khi ln ng ni. Khi m ta chn vo ch c mt u vo v mt u ra. Nhn ca tn hiu: Ta c th gn nhn cho tn hiu ghi ch cho m hnh. Nhn c th nm trn hay di ng ni nm ngang, bn phi hay bn tri ng ni thng ng.

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to nhn tn hiu, bm p chut ln ng ni v ghi nhn. di chuyn nhn, sa mt nhn, click ln nhn ri nh nhn mi sau khi xa nhn c.

1.4.

Ghi ch

Ghi ch l on vn bn cung cp thng tin v m hnh. Ta c th thm ghi ch vo bt k ch trng no ca m hnh. to mt ghi ch, nhn p chut vo vng trng ca m hnh. Khi ny trn mn hnh xut hin mt hnh ch nht c con nhy trong. Ta c th nh vn bn ghi ch vo khung ny. Khi mun di chuyn phn ghi ch n mt v tr khc, ta bm chut vo v ko n v tr mi ri th chut. sa mt ghi ch, bm chut vo n hin th khung vn bn v bt u sa.

1.5.

Lm vic vi cc loi d liu

Cc kiu d liu: Simulink chp nhn cc kiu d liu sau: double s thc vi chnh xc gp i single s thc vi chnh xc n int8 s nguyn c du 8 bit uint8 s nguyn khng du 8 bit int16 s nguyn c du 16 bit uint16 s nguyn khg du 16 bit int32 s nguyn c du 32 bit uint32 s nguyn khng du 32 bit Cc kiu d liu ca cc khi: Cc khi u chp nhn kiu d liu double. M t cc kiu d liu dng cho tham s khi: Khi nhp vo tham s ca mt khi, kiu d liu ca n c ngi dng m t bng lnh type(value) vi type l tn ca kiu d liu v value l gi tr ca tham s. V d: single(1.0) d liu l s thc c tr l 1 int8(2) d liu l s nguyn c tr l 2 int32(3+2i) d liu l s phc, phn thc v phn o l s nguyn 32 bit To tn hiu c kiu d liu c m t: Ta c th em vo m hnh mt tn hiu c kiu d liu c m t bng mt trong cc phng php sau y:

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Np tn hiu c kiu d liu mong mun t MATLAB To mt khi hng v t thng s ca n c kiu d liu mong mun. S dng khi bin i kiu d liu Hin th cc kiu d liu ca cng: hin th kiu d liu ca cng trong m hnh, ta chn Port Data Types t menu Format.

1.6.

Lm vic vi tn hiu phc

Mc nh, cc gi tr ca tn hiu Simulink l s thc. Tuy nhin cc m hnh c th to v x l cc tn hiu l s phc. Ta c th a mt tn hiu l s phc vo m hnh bng mt trong cc phng php sau: Np tn hiu phc t MATLAB To mt khi hng trong m hnh v cho n gi tr phc. To mt tn hiu thc tng ng vi phn thc v phn o ca tn hiu phc v kt hp cc phn ny thnh tn hiu phc bng cch s dng khi bin i tn hiu thco thnh tn hiu phc. Ta c th x l tn hiu phc nh cc khi chp nhn tn hiu phc. Phn ln cc khi ca Simulink chp nhn tn hiu vo l s phc.

1.7.

To h thng con

Khi m hnh ln v phc tp th nn nhm mt s khi li thnh h thng con. To mt h thng con bng cch dng khi h thng con: to mt h thng con trc khi thm cc khi trong n ta phi thm khi h thng con vo m hnh ri thm cc khi to nn h thng con ny vo: Copy khi h thng con t th vin Signal & System vo m hnh. M khi h thng con bng cch click p ln n. Trong ca s khi con rng, to h thng con. S dng cc khi inport biu din u vo v cc khi outport biu din u ra. To h thng con bng cch nhm cc khi c: Nu m hnh c mt s khi cn nhm thnh h thng con th thc hin nh sau: Bao cc khi v ng ni gia chng bng mt ng t nt (bm chut v ko t gc ny n gc kia ca cc khi) ri th chut. Chn Create Subsystem t menu Edit.

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Gn nhn cho cc cng ca h thng con: Simulink gn nhn cho cc cng ca h thng con. Nhn l tn ca cc khi inport v outport ni khi h thng con vi cc khi bn ngoi qua cc cng ny. Ta c th n cc nhn ny bng cch chn khi h thng con ri chn Hide Port Labels t menu Format.

1.8.

M hnh ho

Mt trong nhng vn xut hin khi dng Simulink l lm th no xy dng mt m hnh t cc phng trnh hay h thng cho cho. Sau y l mt s v d v cch xy dng m hnh. 1.8.1. M hnh ho mt phng trnh: Phng trnh dng bin i Celcius thnh Fahrenheit l : F = (9/5)C + 32 Trc ht ta kho st cc khi cn to m hnh: Khi ramp trong th vin Sources input tn hiu nhit Khi Constant trong th vin Sources to hng s 32 Khi Gain trong th vin Math to ra h s 9/5 Khi Sum trong th vin Math cng hai i lng Khi Scope trong th vin Sinks hin th kt qu. Tip ta a cc khi vo ca s m hnh, gn cc gi tr thng s cho Gain v Constant bng cch nhp p ln chng m khi. Sau ta ni cc khi. Khi Ramp a nhit Celcius vo m hnh. M khi ny v thay i gi tr khi gn Initial output v 0. Khi Gain nhn nhit ny vi h s 9/5. Khi Sum cng gi tr 32 vi kt qu v a ra nhit Fahrenheit. Khi Scope xem kt qu. S m phng nh sau:

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1.8.2. M hnh ho h phng trnh tuyn tnh: Xt h phng trnh tuyn tnh: { m phng ta dng cc khi: Hai khi Algebric Constraint trong th vin Math gii phng trnh Hai khi Sum trong th vin Math to php tnh Hai khi Display trong th vin Sink hin th gi tr nghim Khi Constant trong th vin Sources to gi tr 1 S m phng nh sau:

1.8.3. M phng phng trnh bc cao: Xt phng trnh: x2 + 3x + 1 = 0 m phng ta dng cc khi:

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Khi Algebric Constraint trong th vin Math gii phng trnh Khi Display trong th vin Sink hin th tr s ca nghim Khi Constant trong th vin Sources to gi tr 1 Khi Sum trong th vin Math to php cng Khi Math Function trong th vin Math to hm x2 Khi Gain trong th vin Math to h s 3 S m phng nh sau:

1.8.4. M hnh ho h thng lin tc n gin: Ta m hnh ho h m t bi phng trnh vi phn: x(t) = 2x(t) + u(t) vi u(t) l mt sng hnh ch nht c bin bng 1 v tn s 1 rad/s. m phng h ta dng cc khi: Khi Gain trong th vin Math to h s 2

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Khi Sum trong th vin Math to php tnh Khi Scope trong th vin Sink xem kt qu Khi Signal Generator trong th vin Sources to ngun Khi Integrator trong th vin Continuous tnh tch phn S m phng nh sau:

M hnh ho h phng trnh vi phn bc cao: Xt h m t bi phng trnh vi phn bc hai sau: x''(t) + 3x'(t) +2x(t) = 4u(t) Trong u(t) l hm bc, x'(0) = 0 v x(0) = 0. Bin i Laplace ca h: p2X(p) + 3pX(p) + 2X(p) = 4U(p) Hm truyn ca h l: ( ) Ta m phng h bng cc phn t: Khi Step trong th vin Sources to hm bc nhy u(t) Khi Transfer Fcn trong th vin Continuous to hm truyn Khi Scope trong th vin Sink xem kt qu S m phng nh sau:

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1.8.5. M hnh ho h c iu kin u khc khng a. Phng trnh vi phn cp 1: Xt h m t bi phng trnh: x'(t) + x(t) = 0 iu kin u ca h l x(0) = 1. Ta cn tm x(t) trong on 0 t 10s. Do iu kin u khc khng nn ta bin i phng trnh v dng khng gian trng thi. { Trong x l bin trng thi, u l tn hiu vo, y l tn hiu ra. Chn y(t) = x(t) ta c : { Nh vy A = -1 ; C = 1 ; u = 0 ; B = 0, D = 0 v Init = 1. S m phng gm cc phn t: Khi State-Space trong th vin Continuous. Khi Scope trong th vin Sink S m phng nh sau:

b. Phng trnh vi phn cp cao: Xt h m t bi phng trnh: x''(t) + 3x'(t) +2x(t) = 4u(t)
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Trong u(t) l hm n v, x(0) = -2 v x(0) = 1. t x1 = x , x2 = x'. Nh vy iu kin u l: x1(0) = 1 v x2(0) = -2. Ngoi ra: x2' = x1'' = x''. x2'(t) + 3x2(t) + 2x1(t) = 4u(t) Phng trnh cp hai c a v hai phng trnh cp 1: { Vit di dng ma trn ta c: [ ] [ ][ ] [ ] T h ny ta suy ra cc ma trn ca h khng gian-trng thi l: [ ] [ ] [ ] ( )

S m phng gm cc khi sau: Khi State-Space trong th vin Continuous Khi Scope trong th vin Sink S m phng nh sau:

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1.8.6. M hnh ha h cho bi s khi Xt mt h c s khi nh sau:

Ta m phng h bng cc phn t: Khi Step trong th vin Sources Khi Gain trong th vin Math Khi Transfer Fcn trong th vin Continuous S m phng nh sau:

1.8.7. M hnh ho h phi tuyn: a. H cho bi phng trnh vi phn cp cao: Xt phng trnh Val der Pol: y (1 y2 )y + y = 0 iu kin u y(0) = 2 v y(0) = 0. t y = y1 v y = y2 y1(0) = 2 v y2(0) = 0, ta c h phng trnh vi phn cp 1: { ( )

H phng trnh c m phng bng cc phn t sau: Khi hm Fcn trong th vin User Defined Function to hm.

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Khi Product trong th vin Math to php nhn. Hai khi Integrator trong th vin Continuous Khi Sum trong th vin Math Khi Mux trong th vin Signal Routing trn tn hiu Khi Scope trong th vin Sink xem kt qu S m phng nh sau:

Double-click vo khi Integrator nhp iu kin u y1(0) = 2. b. H m t bng h phng trnh vi phn: Xt h phng trnhvi phn sau: { ( )

vi iu kin u l a1(0) = a2(0) = 1.3 Ta m phng h bng cc phn t: Hai khi Integrator trong th vin Continuous Khi Fcn trong th vin User Defined Function Khi Gain trong th vin Math Hai khi Scope trong th vin Sink Khi Sum trong th vin Math

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Double-click vo 2 khi Integrator v Integrator1 gn gi tr u cho a1 v a2 l 1.3.

2. Phn thc hnh

2.1. Xy dng m hnh xe

u: lc ko ca ng c (ng vo ca m hnh). f: lc ma st. Phng trnh biu din nh sau: mv' = u bv hay v' = (u bv)/m trong : m: khi lng xe. v: vn tc xe (ng ra ca m hnh). b: h s ma st. xc nh vi phn v', ta dng khi tch phn (intergrator) trong th vin Continuous.

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Ng ra v l tch phn ca ng vo v1 v = v1dt v1 = v'. T ng ra v, t thm khi Gain trong th vin Math. Nhn p chut thay li thnh b (to hm bv).

Sau , thm khi Sum trong th vin Math thc hin php cng, nhn p chut thay ++ thnh +- to thnh hm u bv. Tuy nhin, phng trnh c thm h s 1/m nn ta thm vo khi Gain vi li 1/m.

Ng vo u thc hin bng khi Step trong th vin Sources vi bin u v ng ra ni vi khi Scope trong th vin Sinks xem kt qu.

Lu rng trong cc khi trn c s dng cc bin m, u, b nn phi c gn gi tr trc khi m phng. >>m = 5000; >>u = 1000;

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>>b = 50; Thi gian m phng ca h thng c th thay i bng cch chn menu Simulation > Configuration Parameters. chy m phng, nhn nt Start trn menubar Simulation > Start. Sau nhn p vo Scope xem kt qu. hay chn menu

2.2.

Hm truyn v khng gian trng thi

Thc hin li phn 2.1 di dng hm truyn v khng gian trng thi. Hm truyn: T phng trnh mv' = u bv, thc hin bin i Laplace: msV(s) = U(s) bV(s) Do ng ra l vn tc: Y(s) = V(s) Hm truyn: ( ) ( ) ( )

Thm khi Transfer Fcn trong th vin Continuous vo m hnh, ng vo dng khi Step trong th vin Sources v ng ra ni vi khi Scope trong th vin Sinks. Nhn p vo khi Transfer Fcn v hiu chnh thng s Denominator coefficients thnh [m b]. Khng gian trng thi:

T phng trnh khng gian trng thi: { Ta c: A = -b/m; B = 1/m; C = 1; D = 0. Thm khi State-Space trong th vin Continuous vo m hnh, ng vo dng khi Step trong th vin Sources v ng ra ni vi khi Scope trong th vin Sinks. Nhn p vo khi State-Space v hiu chnh cc thng s A, B, C, D nh trn.

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2.3.

Xy dng m hnh iu khin v tr ng c DC

H thng xc nh bng phng trnh:

Trong : J = 0.01 (moment qun tnh ca rotor) b = 0.1 (h s gim chn ca h thng c kh) K = Kt = Ke = 0.01 (hng s sc in ng) R = 10 (in tr dy qun) L = 0.5 (h s t cm) V: ng vo (in p t trn cun dy ng c) : ng ra (v tr trc quay) i: dng in chy trong cun dy

2.4.

Xy dng m hnh h thng xe la

H thng xc nh bng phng trnh:

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M1 = 1 (khi lng u my) M2 = 0.5 (khi lng toa) k = 1 ( cng l xo ni gia u my v toa) = 0.002 (h s ma st ln) F: ng vo (lc ko ca u my) g = 9.8 (gia tc trng trng) x1, x2: ng ra (v tr u my v toa)

2.5.

Xy dng m hnh gim xc xe bus

Xt m hnh trn 1 bnh xe bus nh sau:

Phng trnh biu din m hnh: { Trong : m1 = 2500 (trng lng thn)
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) )

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m2 = 320 (trng lng gim xc) K1 = 80000 (h s ca l xo gim xc) K2 = 500000 (h s ca bnh xe) b1 = 350 (h s chng rung ca h thng gim xc) b2 = 15000 (h s chng rung ca bnh xe) W = 0 (nh hng do mt ng) u: ng ra (lc iu khin)

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