Instrumentao e Controlo

Mdulo de Controlo de Sistemas

Pedro Beiro
Instituto Superior de Engenharia de Coimbra
Departamento de Engenharia Mecnica
Rua Pedro Nunes, 3030 - 199 Coimbra, Portugal
pbeirao@isec.pt

Launching Simulink
In the MATLAB command window type
>> simulink

Creating a new model

Click the New model icon
in the upper left corner to
start a new Simulink file
Select the Simulink icon to
show elements on the file

Workspace
Library of elements

New model is created here

Saving the new model

Create a new folder (eg.: simulink_files)
Use .mdl suffix when saving

Example 1
Build a Simulink model to solve the differential equation

= 3 sin(2t)
x(t)
Initial condition
x(0) = -1
Input
function 3sin(2t)
Output
solution of differential equation x(t)

Example 1
Build this model in Simulink

x(0) = -1

input
3sin(2t)

x (t)

1
s

x(t)

output
x(t)

Integrator

Example 1
Drag a Sine Wave block from Sources library to the
model window

Select an input block

Example 1
Drag an Integrator block from Continuous library to the
model window

Select an operator block

Example 1
Drag a Scope block from Sinks library to the model
window

Select an output block

10

Example 1
Place the cursor on Sine Wave block output and drag
from there to the Integrator input
Place the cursor on Integrator block output and drag from
there to the Scope input

Connect blocks with signals

Arrows indicate the direction of signal flow

11

Example 1
Double-click on Sine Wave block to set amplitude = 3
and frequency = 2

Select simulation parameters

This produces the desired input function 3sin(2t)

12

Example 1
Double-click on Integrator block to set initial condition = -1

Select simulation parameters

13

Example 1
Run the simulation
in the model window select Start
from Simulation menu

Run the simulation

View the output x(t) in Scope window

14

Example 1
Double-click on Scope block to view simulation results

Simulation results

15

Example 2
Build a Simulink model to solve the differential equation

+ cx(t)
+ kx(t) = f(t)
mx(t)
Second order mass-spring-damper system
Initial conditions
zero
Input f(t)
step with magnitude 3
Parameters
m = 0.25, c = 0.5, k = 1

16

Example 2
Solve for the term with highest-order derivative

= f(t) cx(t)
kx(t)
mx(t)
Make the left-hand side of this equation the output of a
summing block
+
-

mx(t)

Sum

17

Example 2
Drag a Sum block from Math library to the model window

18

Example 2
Double-click to change block parameters to rectangular
and + - -

19

Example 2
Add a gain (multiplier) block to eliminate the coefficient m
and produce the highest-derivative alone

+
Sum

mx(t)

1
m

x(t)

Gain

20

10

Example 2
Drag a Gain block from Math library to the model window

21

Example 2
Double-click to set gain block parameter

1
1
=
=4
m 0.25

22

11

Example 2
Add integrators to obtain the desired output variable

+
Sum

mx(t)

1
m
Gain

x(t)

1
s

x (t)

Integrator

1
s

x(t)

Integrator

23

Example 2
Drag Integrator blocks from Continuous library to the
model window

Initial conditions are = 0

24

12

Example 2
Connect gain blocks to integrated signals

+
Sum

mx(t)

1
m
Gain

x(t) 1
s

x (t)

Integrator

1
s

x(t)

Integrator

c
Gain

k
Gain

Obtain the terms of the right-hand side of the motion

equation
25

Example 2
Drag new Gain blocks from Math library to the model
window

26

13

Example 2
Drag a Scope block from Sinks library to the model
window

Connect from the gain block input backwards up to the

branch point
27

Example 2
Double-click on gain blocks to set parameter c = 0.5 and
parameter k = 1

28

14

Example 2
Connect all signals and inputs to the summing block

f(t)

+
-

mx(t)

1
m
Gain

Sum

cx(t)

x(t) 1
s

x (t)

Integrator

1
s

x(t)

Integrator

c
kx(t)

Gain

k
Gain

29

Example 2
Drag a Step block from Sources library to the model
window

30

15

Example 2
Double-click on Step block to set parameter
For a step input of magnitude = 3 set Final value = 3

31

Example 2
Final Simulink model

32

16

Example 2
Run the simulation
in the model window select Start
from Simulation menu

33

Example 2
Underdamped response with a overshoot of 0.5 and a
final value of 3

Is this expected?
34

17

Example 2
Analysis based on motion equations

x(t)
c
1
+ x(t)
+ x(t) = f(t)
k
k
k
m
k
=2
Natural frequency
n =
m
Standard form

Damping ratio
2
Static gain
K =

c
= = 0.5
n k

1
=1
k

35

Example 2
Damping ratio equal to 0.5
less than 1
Expect
underdamped system
Expect
overshoot
Static gain is 1
Expect
output magnitude match input magnitude
Input and output
magnitude 3
Simulation results confirm expectations
36

18

Example 3
Single tank level system
Qin [m3/s]
inlet volumetric flow of the tank
Qout [m3/s]
outlet volumetric flow of the tank
h [m]
water level in the tank

37

Example 3
Build a Simulink model to predict changes in the tank
level due to changes in flow conditions
Develop a mass balance
Volumetric flows
a density term is needed to convert
from volume units to mass units
It is also needed to know the cross-sectional area of the
tank in order to determine the volume holdup and hence
the mass holdup in the tank
The mass balance of the simple tank system is given by:
d ( Ah )
dt

= Qin Qout

38

19

Example 3
The tank has a cylindrical shape
constant cross
sectional area A = 20 m2
There is no heating effect
density assumed constant
A

dh
dh
= Qin Qout A
= Qin Qout
dt
dt

The flow Qout through the discharge valve (with cross

section a) is related with the water level in the tank:

Qout = Cda 2gh Qout = Cda 2g

h Qout = k h = 2 h

The mass balance equation can be rewritten:

A

dh
dh
dh Qin k h
= Qin Qout A
= Qin k h
=
dt
dt
dt
A

39

Example 3
Final Simulink model

40

20

Example 3
Null initial conditions (set up through the integrator block)
Unit step change in the inlet flow rate of the tank system
Simulation gives the following response

H( s)
Qin ( s )

41

Example 4
Two tank level system without interaction
Qin1 [m3/s]
inlet volumetric flow of the first tank
Qout1 [m3/s]
outlet volumetric flow of the first tank
Qin2 [m3/s]
inlet volumetric flow of the second tank
Qout2 [m3/s]
outlet volumetric flow of the second tank
h1 [m]
water level in the first tank
h2 [m]
water level in the second tank

42

21

Example 4

43

Example 4
Build a Simulink model to predict changes in both tank
levels due to changes in flow conditions
Develop a mass balance
Volumetric flows
a density term is needed to convert
from volume units to mass units
It is also needed to know the cross-sectional area of both
tanks in order to determine the volume holdup and hence
the mass holdup in both tanks
The mass balance of the two tank level system is given
by:
d ( A1h1 )

44

dt

= Qin1 Qout1 and

d ( A 2h2 )
dt

= Qin2 Qout2

22

Example 4
Both tanks have a cylindrical shape
constant cross
sectional area A1 = A2 = A = 20 m2
There is no heating effect
density assumed constant
The flows Qout1 and Qout2 through the discharge valves
(with cross section a) are related with the water level in
both tanks:
Qout1 = k1 h1 = 2 h1 and Qout2 = k 2 h2 = 2 h2

The volumetric flow exiting the first tank feeds the second
tank
Qout1 = Qin2
The mass balance equations of both tanks are given by:

45

dh1 Qin1 k1 h1
dh2 k1 h1 k 2 h2
=
and
=
dt
A
dt
A

Example 4
Final Simulink model

46

23

Example 4
Final Simulink model

47

Example 4
Final Simulink model
subsystem

48

24

Example 4
Null initial conditions (set up through the integrator block)
Unit step change in the inlet flow rate of the tank system
Simulation gives the following responses

H1 ( s )
Qin1 ( s )

and

H2 ( s )
Qin2 ( s )

49

Example 5
Two tank level system with interaction
Qin1 [m3/s]
inlet volumetric flow of the first tank
Qout1 [m3/s]
outlet volumetric flow of the first tank
Qin2 [m3/s]
inlet volumetric flow of the second tank
Qout2 [m3/s]
outlet volumetric flow of the second tank
h1 [m]
water level in the first tank
h2 [m]
water level in the second tank

50

25

Example 5

51

Example 5
Build a Simulink model to predict changes in both tank
levels due to changes in flow conditions
Develop a mass balance
Volumetric flows
a density term is needed to convert
from volume units to mass units
It is also needed to know the cross-sectional area of both
tanks in order to determine the volume holdup and hence
the mass holdup in both tanks
The mass balance of the two tank level system is given
by:
d ( A1h1 )

52

dt

= Qin1 Qout1 and

d ( A 2h2 )
dt

= Qin2 Qout2

26

Example 5
Both tanks have a cylindrical shape
constant cross
sectional area A1 = A2 = A = 20 m2
There is no heating effect
density assumed constant
Due to the interaction between the two tanks Qout1 is
obtained by the level difference of the two tanks:
Qout1 = k 1 h1 h2 = 2 h1 h2

The volumetric flow exiting the first tank feeds the second
tank
Qout1 = Qin2
The mass balance equations of both tanks are given by:
dh1 Qin1 k1 h1 h2
dh2 k1 h1 h2 k 2 h2
=
and
=
dt
A
dt
A
53

Example 5
Final Simulink model

54

27

Example 5
Tank 1 is empty and Tank 2 has a level of 1 m (set up
through the corresponding integrator block)
Unit step change in the inlet flow rate of the tank system
Simulation gives the following responses

H1 ( s )
Qin1 ( s )

and

H2 ( s )
Qin2 ( s )

55

Example 6
Mass-spring-damper system
Mass
m = 4 kg
Damping coefficient
c = 2 Ns/m
Spring constant
k = 36 N/m
Position initial condition
x(0) = 0.5 m

Velocity initial condition
x(0)

=0m

56

28

Example 6
Build a Simulink model of the mass-spring-damper
system
Develop a force balance using 2nd Newtons law:

= f(t) cx(t)
kx(t)
mx(t)
Find the system responses to the following inputs:
Constant input of 0 N or no input
Constant input of 100 N
Step input of 100 N with an initial value of 0, final value
of 100 and step time of 20 s
Sinusoidal input with amplitude of 100 N and frequency
of 3 rad/s
Write an m-file to plot all the responses in a single figure
57

Example 6
Final Simulink model

58

29

Example 6
m-file to plot all the system responses in a single figure

59

Example 6
System responses to the given inputs
Constant Forced Response
5

0.4

4
position (m)

position (m)

Free Response
0.6

0.2

-0.2

-0.4

10

15

20
time (sec)

25

30

35

40

10

Step Forced Response

25

30

35

40

30

35

40

0.6

0.4

position (m)

position (m)

20
time (sec)

Sinusoidal Forced Response

2
1

0.2

-0.2

0
-1

15

10

15

20
time (sec)

25

30

35

40

-0.4

10

15

20
time (sec)

25

60

30

Example 7
Industrial mixing process
Qhot [m3/s]
hot volumetric flow
Qcold [m3/s]
cold volumetric flow
Thot [C]
hot temperature
Tcold [C]
cold temperature

61

Example 7
Build a Simulink model to simulate the temperature
control of a mixing process
The temperature of the mixed flow is given by:
dT Qhot Thot + QcoldTcold ( Qhot + Qcold ) T
dT Qhot Thot + Qcold Tcold QT
=

=
dt
V
dt
V

Control flow Q by manipulating Qcold

Control temperature T by manipulating Qhot
Consider volume V = 0.5
62

31

Example 7
Final Simulink model

63

Example 7
Final Simulink model

64

32

Example 7
Final Simulink model
subsystem

65

Example 7
Final Simulink model
subsystem

66

33

Example 7
Run the simulation and plot the responses of T and Q

Modify the values of the PI controllers to improve the

response:

67

34