Mastering Simulink

, by Dabney, James B.; Harman, Thomas L.

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ISBN: 9780131424777 | 0131424777
Cover: Paperback
Copyright: 10/28/2003

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Simulink is a programming language specifically designed for simulating dynamical systems using standard block diagram notation. Designed for readers with the appropriate mathematical preparation that includes a good understanding of the fundamental concepts from introductory experience such as calculus and differential equations, this book presents detailed coverage of programming using Simulink.Beginning with a block diagram tutorial, the book presents an overview of Simulink and describes in detail the procedures for building, editing, and running a Simulink model. The book also provides explanations for debugging techniques, including the interactive debugger; contains an examination of Stateflow, a Simulink extension that adds the capability to model finite state machines subsystems using a variant of the popular Statecharts formalism; and concludes with an introduction to Real-Time Workshop.For professionals with a career in engineering, control systems, programming, or science.

Preface

xvii

Using the Book

xvii

New Users

xvii

Experienced Users

xviii

Advanced Users

xviii

Acknowledgments xix

1 Introduction

(6)

1.1 What Is Simulink?

(1)

1.2 Simulink Examples

(2)

1.2.1 Steel Rolling Plant Modeling

(1)

1.2.2 Automotive Engine Modeling

(1)

1.3 Simulink Employment Strategies

(1)

1.3.1 Rapid Prototyping

(1)

1.3.2 Rapid Application Development

(1)

1.4 Selection Considerations

(1)

1.5 Outline of Text

(1)

References

(1)

2 Block Diagrams

(25)

2.1 Introduction

(1)

2.2 Continuous Systems

(5)

2.2.1 Gain Blocks

(1)

2.2.2 Sum Block

(1)

2.2.3 Derivative Block

(1)

2.2.4 Integrator

(1)

2.2.5 Simple Physical Models

(1)

2.2.6 Transfer Function Block

(2)

2.3 State Space Block

(7)

2.3.1 The State-Space Concept

(2)

2.3.2 Linear Single-Input, Single-Output Systems

(3)

2.3.3 Multiple Input, Multiple Output Systems

(2)

2.4 Discrete Systems

(6)

2.4.1 Discrete Gain Block

(1)

2.4.2 Discrete Sum Block

(1)

2.4.3 Unit Delay

(1)

2.4.4 Discrete-Time Integrator Block

(1)

2.4.5 Simple Discrete System Models

(1)

2.4.6 Discrete Transfer Function Block

(1)

2.5 Discrete State Space Block

(2)

2.6 Nonlinear Blocks

(1)

2.7 Hybrid Block Diagrams

(2)

2.8 Summary

(1)

References

(2)

3 Quick Start

(17)

3.1 Introduction

(1)

3.1.1 Typographical Conventions

(1)

3.2 Building a Simple Model

(5)

3.3 A More Complicated Model

(8)

3.4 The Simulink Help System

(2)

3.4.1 Opening the User's Guide Browser

(1)

3.4.2 User's Guide Browser Window

(1)

3.5 Summary

(1)

References

(1)

4 Model Building

(41)

4.1 Introduction

(1)

4.1.1 Elements of a Model

(1)

4.2 Opening a Model

(1)

4.3 Model Window

(3)

4.3.1 Zooming

(1)

4.3.2 Block Data Tips

(1)

4.3.3 Simulink Block Library

(1)

4.4 Manipulating Blocks

(5)

4.4.1 Resizing a Block

(1)

4.4.2 Rotating a Block

(1)

4.4.3 Copying a Block within a Model

(1)

4.4.4 Deleting Blocks

(1)

4.4.5 Selecting Multiple Blocks

(1)

4.4.6 Changing a Block Label

(1)

4.4.7 Changing Label Location

(1)

4.4.8 Hiding a Label

(1)

4.4.9 Adding a Drop Shadow

(1)

4.4.10 Using Color

(1)

4.4.11 Configuring Blocks

(1)

4.5 Signal Lines

(7)

4.5.1 Moving a Segment

(2)

4.5.2 Moving a Vertex

(1)

4.5.3 Deleting a Signal Line

(1)

4.5.4 Splitting a Signal Line

(1)

4.5.5 Labeling a Signal Line

(1)

4.5.6 Moving or Copying a Signal Line Label

(1)

4.5.7 Editing a Signal Line Label

(1)

4.5.8 Signal Label Propagation

(1)

4.6 Annotations

(1)

4.6.1 Adding Annotations

(1)

4.6.2 Annotation Formatting

(1)

4.7 Adding Sources

(4)

4.7.1 Common Sources

(2)

4.7.2 From Workspace Block

(2)

4.7.3 From File Input Block

(1)

4.8 Adding Sinks

(5)

4.8.1 Scope Block

(5)

4.8.2 XY Graph

(1)

4.9 Data Types

(2)

4.10 Configuring the Simulation

(7)

4.10.1 Solver Page

(2)

4.10.2 Workspace I/O Page

(2)

4.10.3 Diagnostics Page

(1)

4.10.4 Advanced Page

(1)

4.11 Running a Simulation

(1)

4.12 Printing a Model

(3)

4.12.1 Printing to the Printer Using Menus

(1)

4.12.2 Embedding the Model in a Document

(1)

4.12.3 Using the MATLAB Print Command

(2)

4.13 Model Building Summary

(1)

4.14 Summary

(1)

References

(1)

5 Continuous Systems

(17)

5.1 Introduction

(1)

5.2 Scalar Linear Systems

(6)

5.2.1 Integrator Block

(4)

5.2.2 Transfer Function Blocks

(2)

5.3 Vector Linear Systems

(2)

5.3.1 Vector Signal Lines

(2)

5.3.2 State-Space Block

(1)

5.4 Modeling Nonlinear Systems

(7)

5.4.1 Function Blocks

102

(3)

5.5 Summary

105

(1)

References

106

(1)

6 Discrete-Time Systems

107

(13)

6.1 Introduction

107

(5)

6.1.1 Scalar Linear Discrete-Time Systems

107

(1)

6.1.2 Unit Delay

108

(1)

6.1.3 Discrete-Time Integrator

108

(2)

6.1.4 Discrete Transfer Function Blocks

110

(2)

6.2 Logical Blocks

112

(2)

6.3 Vector Discrete-Time Systems

114

(1)

6.4 Multirate Discrete Time Systems

114

(2)

6.5 Hybrid Systems

116

(2)

6.6 Summary

118

(1)

References

119

(1)

7 Subsystems and Masking

120

(42)

7.1 Introduction

120

(1)

7.2 Simulink Subsystems

120

(6)

7.2.1 Encapsulating a Subsystem

122

(2)

7.2.2 Subsystem Blocks

124

(2)

7.3 Masked Blocks

126

(25)

7.3.1 Converting a Subsystem into a Masked Subsystem

128

(1)

7.3.2 Mask Editor Documentation Page

128

(1)

7.3.3 Parameters Page

129

(5)

7.3.4 Initialization Page

134

(3)

7.3.5 Mask Editor Icon Page

137

(8)

7.3.6 Looking Under and Removing Masks

145

(1)

7.3.7 Using Masked Blocks

145

(1)

7.3.8 Creating a Block Library

146

(2)

7.3.9 Configurable Subsystems

148

(3)

7.4 Conditionally Executed Subsystems

151

(5)

7.4.1 Enabled Subsystems

151

(4)

7.4.2 Triggered Subsystems

155

(1)

7.4.3 Trigger-When-Enabled Subsystems

156

(1)

7.4.4 Discrete Conditionally Executed Subsystems

156

(1)

7.5 Logical Subsystems

156

(1)

7.6 Iterative Subsystems

157

(4)

7.6.1 For Iterator Subsystem

157

(1)

7.6.2 While Iterator Subsystem

158

(3)

7.7 Summary

161

(1)

References

161

(1)

8 Simulink Analysis Tools

162

(35)

8.1 Introduction

162

(1)

8.2 Determining Model Characteristics

162

(5)

8.2.1 Simulink State Vector Definition

162

(1)

8.2.2 Using the model Command

163

(4)

8.3 Executing Models from MATLAB

167

(2)

8.3.1 Using sim to Run a Simulation

167

(2)

8.4 Setting Simulation Parameters with simset

169

(7)

8.4.1 Obtaining Simulation Parameters with simget

172

(4)

8.5 Linearization Tools

176

(10)

8.5.1 Linearization

176

(1)

8.5.2 Simulink Linearization Commands

177

(9)

8.6 Trim Tools

186

(6)

8.7 Optimization Toolbox and Simulink

192

(3)

8.8 Other Toolboxes Useful with Simulink

195

(1)

8.9 Summary

195

(1)

References

195

(2)

9 Callbacks

197

(22)

9.1 Introduction

197

(1)

9.2 Callback Function Overview

197

(4)

9.2.1 Callback Installation Dialog Boxes

197

(1)

9.2.2 Installing Callbacks Using set_param

198

(3)

9.3 Model Construction Commands

201

(3)

9.3.1 Finding the Name of the Current Block

201

(1)

9.3.2 Finding the Name of the Current Model

202

(1)

9.3.3 Finding the Name of the Current System

202

(1)

9.3.4 Setting Parameter Values

203

(1)

9.3.5 Reading Parameter Values

203

(1)

9.4 Graphical User Interfaces with Callbacks

204

(11)

9.4.1 Graphic User Interface Callback

204

(3)

9.4.2 Programming Issues

207

(8)

9.5 Callback-Based Animations

215

(3)

9.6 Summary

218

(1)

References

218

(1)

10 S-Functions

219

(40)

10.1 Introduction

219

(1)

10.2 S-Function Block

219

(1)

10.3 S-Function Overview

220

(1)

10.4 M-file S-Functions

221

(14)

10.4.1 Initialization (flag = 0)

222

(2)

10.4.2 Continuous State Derivatives (flag = 1)

224

(1)

10.4.3 Discrete State Updates (flag = 2)

224

(1)

10.4.4 Block Outputs (flag - 3)

225

(1)

10.4.5 Next Sample Time (flag = 4)

226

(1)

10.4.6 Terminate (flag = 9)

226

(1)

10.4.7 Programming Considerations

226

(1)

10.4.8 M-file S-Function Examples

227

(8)

10.5 C Language S-Functions

235

(23)

10.5.1 C File Header

239

(1)

10.5.2 Initializing the Simulation Structure

240

(2)

10.5.3 Defining Sample Times and Offsets

242

(1)

10.5.4 Accessing Model Variables

243

(1)

10.5.5 Setting Initial Conditions

244

(1)

10.5.6 Setting the Output Vector

244

(1)

10.5.7 Updating the Discrete States

245

(1)

10.5.8 Computing the State Derivatives

245

(1)

10.5.9 End-of-Simulation Tasks

246

(1)

10.5.10 C S-Function File Trailer

246

(1)

10.5.11 Programming Considerations

246

(4)

10.5.12 Compiling a C S-Function

250

(1)

10.5.13 C S-Function Examples

250

(8)

10.6 Summary

258

(1)

References

258

(1)

11 Graphical Animations

259

(14)

11.1 Introduction

259

(1)

11.2 S-Function Animations

259

(6)

11.2.1 Animation S-Function Initialization

260

(1)

11.2.2 Animation S-Function Updates

261

(4)

11.3 Animation Toolbox

265

(4)

11.3.1 Obtaining the Animation Toolbox

265

(1)

11.3.2 Using the Animation Toolbox

265

(3)

11.3.3 Animation Object Properties

268

(1)

11.3.4 Configuring an Animation

268

(1)

11.3.5 Modifying an Animation

268

(1)

11.3.6 Setting Initial Inputs

269

(1)

11.3.7 Saving and Loading Animation Files

269

(1)

11.4 Dials & Gauges Blockset

269

(2)

11.5 Virtual Reality Toolbox

271

(1)

11.6 Summary

272

(1)

References

272

(1)

12 Debugging

273

(14)

12.1 Introduction

273

(1)

12.2 Finding Model-Building Errors

273

(2)

12.3 Finding Implementation Problems

275

(2)

12.3.1 Simulink Execution Errors

275

(1)

12.3.2 Slow Execution

275

(2)

12.3.3 Incorrect Results

277

(1)

12.4 Simulink Debugger

277

(9)

12.4.1 Running the Debugger

278

(1)

12.4.2 Block Index

279

(1)

12.4.3 Single-Step Execution

280

(1)

12.4.4 Breakpoints

281

(2)

12.4.5 Inspecting Block Data

283

(1)

12.4.6 Algebraic Loop Commands

283

(1)

12.4.7 Debugger Status Commands

284

(1)

12.4.8 Ending Debugging

284

(1)

12.4.9 Debugger Command Summary

284

(2)

12.5 Summary

286

(1)

13 Numerical Issues

287

(14)

13.1 Introduction

287

(1)

13.2 Choosing a Solver

287

(6)

13.3 Algebraic Loops

293

(5)

13.3.1 Newton Raphson Method

294

(1)

13.3.2 Eliminating Algebraic Loops

295

(3)

13.4 Multiple Sample Time Issues

298

(1)

13.5 Zero-Crossing Detection

299

(1)

13.6 Summary

299

(1)

References

299

(2)

14 Introduction to Stateflow

301

(29)

14.1 Introduction

301

(1)

14.2 Finite State Machines

301

(1)

14.3 State Transition Diagrams

302

(1)

14.4 Stateflow Charts

303

(5)

14.4.1 Stateflow Chart Hierarchy

305

(2)

14.4.2 Compound Transitions

307

(1)

14.4.3 Inner Transitions

308

(1)

14.5 Stateflow Quick Start

308

(6)

14.6 Drawing Stateflow Charts

314

(3)

14.6.1 State Boxes

314

(1)

14.6.2 Transitions

315

(1)

14.6.3 Connective Junctions

316

(1)

14.6.4 Default Transitions

316

(1)

14.6.5 History Junctions

316

(1)

14.6.6 Specifying Parallel Decomposition

316

(1)

14.7 Labeling States and Transitions

317

(1)

14.7.1 State Labels

317

(1)

14.7.2 Transition Labels

318

(1)

14.8 Stateflow Explorer

318

(1)

14.9 Interfacing with Simulink

318

(2)

14.9.1 Inputs

319

(1)

14.9.2 Outputs

319

(1)

14.10 Chart Update Options

320

(2)

14.11 Flowcharts

322

(4)

14.12 Graphical Functions

326

(1)

14.13 Printing Stateflow Charts

327

(1)

14.14 Stateflow Debugger

327

(1)

14.15 Summary

328

(1)

References

329

(1)

15 Introduction to Real-Time Workshop

330

(18)

15.1 Introduction

330

(2)

15.1.1 Development Scenarios

330

(1)

15.1.2 Build Process

331

(1)

15.2 Generic Real-Time Target

332

(4)

15.2.1 Stand-Alone GRT Target

332

(1)

15.2.2 Running the Stand-Alone GRT Model

333

(2)

15.2.3 Using External Mode

335

(1)

15.3 Rapid Simulation Target

336

(6)

15.3.1 Basketball Dynamical System

336

(1)

15.3.2 Basketball Simulink Model

337

(1)

15.3.3 Building the Rapid Simulation Target

338

(1)

15.3.4 Rapid Simulation Options

339

(2)

15.3.5 Minimizing Miss Distance

341

(1)

15.4 xPC Target

342

(5)

15.4.1 Initialization

342

(1)

15.4.2 Building a Target

343

(2)

15.4.3 Starting Target

345

(1)

15.4.4 Controlling the Target

345

(2)

15.5 Summary

347

(1)

References

347

(1)

Appendix A Block Reference

348

(14)

A.1 Continuous Block Library

348

(1)

A.2 Discontinuities Block Library

349

(1)

A.3 Discrete Block Library

350

(1)

A.4 Lookup Tables Block Library

351

(1)

A.5 Math Operations Block Library

352

(2)

A.6 Ports & Subsystems Block Library

354

(2)

A.7 Signal Attributes Block Library

356

(1)

A.8 Signal Routing Block Library

357

(1)

A.9 Sinks Block Library

358

(1)

A.10 Sources Block Library

359

(2)

A.11 User-Defined Functions Block Library

361

(1)

Appendix B Parameter Reference

362

(9)

B.1 Model Parameters

362

(5)

B.2 Common Block Parameters

367

(1)

B.3 Mask Parameters

368

(1)

B.4 Identifying Block Parameters

368

(3)

Index

371

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Mastering Simulink

Summary

Table of Contents

Supplemental Materials