Multifunctional Simulation Instrument for Control Systems Based on MATLAB GUI

Transcription

1 Sesors & rsducers, Vol. 2, Specil Issue, My 203, pp Sesors & rsducers 203 y IFSA hp:// Mulifuciol Siulio Isrue for Corol Syses Bsed o MALAB GUI XING XUENING School of Elecricl d Elecroic Egieerig, Shdog Uiversiy of echology, , Chi E-il: xigxueig@yeh.e Received: 2 April 203 /Acceped: 4 My 203 /Pulished: 30 My 203 Asrc: I he uoic corol priciple course echig, he experie is kid of ipor echig ehods used o help sudes udersd d grsp wh hey lered i clss. MALAB GUI is used o desig kid of ulifuciol corol syse siulio. Whe ipu he zero pole preers of rsfer fucio, d he ope loop rsfer fucio of he correspodig corol syse c e go he ode digr d Nyquis digr, he roo locus digr d he ui sep respose curve. he siulor c ke up for he deficiecy of he rdiiol lorory, oreover i c icrese he sudes' ieres i lerig ou he course. Sudes re he igges eeficiries. Copyrigh 203 IFSA. Keywords: MALAB GUI, Siulio isrue, Auoic corol, rsfer fucio, Roo locus.. Iroducio [-3] Priciple of uoic corol echology is he sudy of uoic corol heory, which is oe of he i courses of professiol. I he uoic corol priciple of he course, we us ler he corol syse's sic heory, he sic cocep d he lysis d he desig ehod. I he uoic corol priciple course echig, he experie is kid of ipor echig ehods used o help sudes udersd d grsp wh hey lered i clss. I he rdiiol hrdwre experiel plfor, you us chge or dus he correspodig copoes i he experiel sge if you w o chge he preers of he syse d srucure ore ofe d soeies i is difficul o chieve due o vrious resos. I rece yers, wih he wide pplicio of MALAB i uoic corol heory d he use of MALAB o ssis echig, which hs plyed good role i he process of echig. Bu siply use MALAB o he siulio eeds ceri progrig sis. Wih he eergece of virul isrue echology d he develope of copuer echology, usig he virul experie syse developed y MALAB GUI c do virul experies. GUIDE fro he Grphicl User Ierfce Develope Eviroe, i is shor for MALAB Grphicl User Ierfce Develope Eviroe, i c provide he GUI wih series of ools, which grely siplifies he desig d he process of creig GUI. Usig GUI edior o edi eeds o ediig respecively wo files: A FIG file (FIG), coiig he riue se of GUI oecs d lyou iforio; he oher oe is M file. (M), coiig he corol GUI oecs iplee he cllck fucio. I his pper, corol syse lysis d desig of siulio sofwre sed o MALAB GUI plfor ws desiged, coied wih corol syse sic heory d MALAB corol syse oolox. Ad he ode digr, he sep respose 28 Aricle uer P_SI_369

2 Sesors & rsducers, Vol. 2, Specil Issue, My 203, pp curve, Nyquis digr d he roo locus digr ccordig o he give rsfer fucio c e ploed. u () I his ype, y () i is he oupu of he syse; is he syse ipu; i( i 0,,2,, ) ( 0,,2,, ) d is ssocied wih he syse srucure d preers of cos coefficie. u () y () Se, d ech derivive re ll zero whe 0, i.e. zero iiil codiios, i he ype of he Lp lce rsfor, respecively, se Y() s [ y()] Us () [()] u d for lgeric equio. he, he syse rsfer is defied s, s ville Ys () s s s Gs () Us () s s s 0 0 (2) Fig.. GUI edior ierfce. 2. Clssicl Corol heory d Siulio [4-6] Syse's rsfer fucio is he sis of he clssicl corol heory, ily sudies he lysis d desig proles of sigle ipu d sigle oupu of he lier ie-ivri syses wih frequecy doi ehod.i cos vlue syse d servo syse, he heory hs ore exesive pplicio, lyig solid foudio for he furher sudy of he iellige corol heory d he oder corol heory [4-6]. ( 0,,2,, ) ( i 0,,2,, ) i herefore, olecules c e used i MALAB, he deoior coefficie vecors u d de o represe he rsfer fucio Gs (), relizig he fucio of f(), i clls he for is s follows: u = [ 0,,,, ] de = [ 0,,,, ] sys = f (u,de) 2.2. he Ui Sep Respose d Siulio so For he ui sep ipu r () = (), r (s) = s, d Fig. 2. ypicl srucure of corol syse. C( s) s( s ) s s (3) 2.. rsfer Fucio d Siulio rsfer fucio is heicl odel for descriig he dyic chrcerisics of lier syses, u is oly pplicle o lier ieivri syse d iiil codiios re zero. A lier ie-ivri syse cosiss of he followig order lier ordiry differeil equios. d d d 0 y () y () y () y () d d d d d d 0 u () u () u () u () d d d () herefore, c () ss c () c () c() e (4) ss for sedy se copoe, c () As he rsie copoe, sep(sys) sep(sys,fil) sep(sys,) sep(sys,sys2,,) [, d]=sep(sys) [,d,x]=sep(sys) c () c () ss ; e. 29

3 Sesors & rsducers, Vol. 2, Specil Issue, My 203, pp he fil s respose o eriio ie vriles; for give ie vriles, such s: = 0:0.0:0; Reur vrile, y for he respose vecor, vecor is ie, s he se vecor x Bode Digr d Siulio he perforce of he corol syse wih ie doi esuree is iuiive, u high order corol syse chrcerisics i ie doi, i is difficul o deerie wih he lyicl ehod, we usully use frequecy doi ehod o solve. Frequecy doi ehod is grphicl ehod, ily icludes hree kids of ehods: Bode (pliude / phse frequecy chrcerisic curve), Nyquis curve d Nichole digr. Bode digr is he logrihic frequecy chrcerisic curve. A kow syse rsfer s s H() s s s 2 2 (5) he frequecy respose of he syse c e direcly clculed ( ) ( ) Hw ( ) 2 ( ) 2( ) (6) Bode digrs of he syse is H ( ) of rederig, so i is lso clled he pliude frequecy d phse frequecy chrcerisic curve. Asciss is gulr frequecy w, is cooly used i logrihic scle, ely ui is rd/s. he ordie is he logrihic phse frequecy ( ) d he ui for Agle; chrcerisics Ordie is logrihic pliude-frequecy L( ) 20log A( ) chrcerisics d he ui is deciels (db). Bode digr drwig fucio of MALAB for Bode(), which clls he for is s follows: ode(sys) ode(sys, w) [g, phse, w]=ode(sys) Aog he: rificil give he frequecy of he ipu vecor for he vecor; g for he reured pliude vecor; phse o reur o he phse Agle of he vecor. I ddiio, MALAB provides very coveie copuig syse fucio of he pliude d phse Agle rgi, which clls he for is s follows: rgi(sys) [g, p, wg, wp]=rgi(sys) [g, p, wg, wp]=rgi(g, phse, w) Aog he: g for he reured vecor pliude rgi; p s he phse Agle rgi; wg for phse hrough frequecy; wp for he cuoff frequecy Nyquis Curve d he Siulio Nyquis curve is sed o ope loop frequecy chrcerisic i he coplex ple o he pliude d phse recory of he pi. Accordig o he Nyquis curve of ope loop, i c udge he siliy of he closed-loop syse. Feedck corol is ecessry d sufficie codiios for syse siliy, Nyquis curve couerclockwise roud he criicl poi (-, 0) circle uer P is equl o he ope-loop rsfer fucio poles ook i righ hlf of s ple, oherwise he closed-loop syse isiliy. Whe he opeloop rsfer fucio cois he poles o he igiry xis of closed curves, should e fro he righ side of he seicircle roud he pole. his is he Nyquis crierio. MALAB Nyquis frequecy curve drwig fucio Nyquis(), which clls he for is s follows: yquis(sys) yquis(sys,w) [re,i,w]=yquis(sys) 2.5. Roo Locus d Siulio he sic perforce of he closed loop syse rsie respose is coposed of closed-loop poles disriuio i roo ple ore deeried. he closed-loop poles re he roos of he chrcerisic equio. he roo locus is whe vrile preer syse y, he closed-loop poles re porryed i he S ple recory. Se up corol syse of he ope loop rsfer fucio c e expressed s: ( sz)( sz ) ( sz ) GsHs () () K K * 2 * ( sp)( sp2) ( sp ) i ( s z ) ( s p ) i (7) I he forul, K* s he roo locus gi opeloop syse; Z for he syse ope loop zero (=,2,..., ); P i for he syse ope loop poles (i=,2,..., ). he closed-loop chrcerisic equio of syse is: GsHs ( ) ( ) 0 (8) he forul is clled he roo locus equio. I c e drw whe K chged fro zero o ifiiy, coiuous roo locus syse. Usig roo locus fucio provided y he MALAB c e coveiely d ccurely plo he roo locus of corol syse, d c use he roo locus digr of corol syse re lyzed. Used o p he roo locus of syse, is cll for is s follows: rlocus(sys) rlocus(sys,k) r=rlocus(sys,k) [r,k]=rlocus(sys) 220

4 Sesors & rsducers, Vol. 2, Specil Issue, My 203, pp Siulio Isrue Desig [7-0] Mi prs iclude sr, exi uo, ipu preers d grphic disply. Which use he GUI sic ex i he selecio re, edile ex, ouch uo d xes. he desiged siulor is oly pplicle o he syse rsfer fucio is zero pole odels: G( s) K( s z) ( s p )( s p )( s p ) 2 3 (9) I he siulio isrue pel plo he Bode grph, he syse sep respose curve, Nyquis digr d roo locus digr he se ie, his provides gre coveiece for syse reserch. Desig d Siulio of isrue is divided io desig d sofwre progrig of he corol pel. Accordig o he ide of pulishig o he corol pel i he GUI ierfce, odify ech ex ox or uo, d he wrie he progr of he uli-fucio corol syse siulio isrue i he cllck fucio, repeed deuggig d odificio, uil i reches he expeced gol. 3.. Lyou of GUI Oecs Accordig o heir overll cocepio of ulifuciol corol syse siulio, he siulio isrue pel cosiss of hree prs. he firs pr is he preer ipu, o he lef side of he oec d selecs he Sic ex zoe (sic ex); i is ofe used o disply oher oecs, such s uericl se. Drg he ouse o deerie he size of he ex ox i he GUI lyou re of he properies dilog ox, doule-click he ex ox pops up Sic ex, odify he ex ox sic ex i Srig. If you w o eer he uers i he ex ox i he correspodig preers, you eed o selec he oec selecio i Edi ex (edile ex); i llows he user o odify he ex coe, used for d ipu d disply. Drg he ouse o deerie he size of he ex ox, d he click he ex ox o odify is properies. Delee he coes of he Srig correspod o chge he color o whie d is ierfce is show i Fig. 3. he secod pr is he egiig, exi Buo, choose he Push Buo oec selecio re o he lef (ouch Buo), drg he ouse i he GUI lyou re o deerie he size of he Buo, doule-click he Buo pop-up Push Buo i he properies dilog ox, d ed he coe i he Srig o sr or exi. he hird pr is he grphicl disply, selec he xes (xis) o he lef side of he oec, drg he ouse o deerie he coordie xis size, douleclick he coordie xis odify is properies. You c use he GUI eu r ool will hese xes lige. Fig. 3. Siulor ierfce edior Cllck Fucio Righ click o he ierfce of Fig. 3 i he sr uo, selec View Cllcks cllck; i he popup edior pge i he fucio pushuo_cllck :(hoec, evede, hdles) eer he followig procedures: K =sr2doule(ge(hdles.edi,'srig')); z=sr2doule(ge(hdles.edi2,'srig')); p=sr2doule(ge(hdles.edi3,'srig')); p2=sr2doule(ge(hdles.edi4,'srig')); p3=sr2doule(ge(hdles.edi5,'srig')); k=k; z=[z]; p=[p,p2,p3]; y=zpk(z,p,k); xes(hdles.xes); ode(y) grid o xes(hdles.xes2); y=feedck(y,) sep(y) grid o xes(hdles.xes3); yquis(y) grid o xes(hdles.xes4); rlocus(y) grid o Righ click he exi uo ierfce s show i Fig. 3, selec he cllck i he View Cllcks, i he popup edior pge i he fucio pushuo2_cllck (hoec, evede, hdles) eer he close, poi o sve. Click he oolr i he Ru Figure, ru he progr, ge he corol pel of ulifuciol corol syse siulio isrue. 4 he Use of he Siulor he syse odel hs ee uil, you c sr he siulio. I he siulio, you should se he siulio preers. he siulio syse is 22

5 Sesors & rsducers, Vol. 2, Specil Issue, My 203, pp desiged i his pper is sed o pole-zero syse odel desig, so he zero d pole of he syse should e clculed efore he siulio. Ses he rsfer fucio: Gs () 00s s s s () Sr MALAB, he MALAB cod widow, ype he followig sequece Progr: u=[00,300]; de=[,,0,0]; [z,p,k]=f2zp(u,de) sys=zpk(z,p,k) Press he Eer key, geig he pole zero egive feedck syse (2) Operig syse, s show i Fig. 4. syse sle, ccure d fs ruig. Afer he lysis of syse press he exi uo o ed. 5 Coclusios he siulor pu ode digr, ui sep respose curve, Nyquis digr d he roo locus digr which re cooly used i corol syse i he se corol pel, c ore coveie o sudy he siliy, ccurcy d rpidiy of he corol syse. Curve hs he chrcerisics of iuiive; i is very coveie o sudy he sedyse perforce d dyic perforce of he corol syse used y curve. he isrue lso hs soe shorcoigs, such s he corol syse o sudy he odel is he es odel of zero-pole, if o zero pole odel d usig MALAB lguge io pole-zero odel d he use he siulio isrue siulio; rsfer fucio of corol syse siulio uer order is relively low, d for fixed. Also c e used for furher odificio d perfecio of he siulio syse, i c siule order rsfer fucio eer, u his ie of he MALAB progrig requirees will e higher. Referece Fig.4. es Resul. Ipu he pole-zero rsfer fucio preers i he preer ipu corol pel o he lef side of he siulio syse, we c ge he correspodig corol syse ope-loop rsfer fucio of he Bode digr, Nyquis digr, d he roo locus digr d ui sep respose curve. Fig. 4 shows ope-loop gi of 00, zero - 3, pole respecively,, 0-0 o he siulio of he syse. Fro his ierfce c oi soe preers of syse dyic perforce d sedy-se perforce, d hrough preer corols he syse, ke he []. Du, Michl, Bro, Luks, MALAB GUI for DC drive preer ideificio, Mechroik, 202, 202. [2]. Michell, R. J. Usig MALAB GUIs o iprove he lerig of frequecy respose ehods, Corol, 202, 202. [3]. Elgroud, Bchir, Educiol sofwre for wve propgio pheoe usig MALAB GUIs d FDD ehod, EDUCON 202, 202. [4]. Li Sulig, Auoic Corol heory (3 rd Ediio) Mchiery Idusry Press, 202. [5]. Zhg Defeg, MALAB d uoic corol syse desig, Mchiery Idusry Press, 200. [6]. Zhg Jig, Applicio of MALAB i corol syses, Pulishig House of Elecroics Idusry, [7]. Che Cho, MALAB pplicio exples succicly -- ige processig d GUI desig, Pulishig House of Elecroics Idusry, 20. [8]. Hug Weei, Yg Yog, Syse siulio lysis d Desig - MALAB pplicio, Niol Uiversiy of Defese echology Press, 200. [9]. Wg Zhegli, MALAB/Siulik d Corol Syse Siulio (2d Ediio), Elecroic Idusry Press, [0]. Su Lig, MALAB siulio d corol syse, Beiig Uiversiy of echology Press, Copyrigh, Ieriol Frequecy Sesor Associio (IFSA). All righs reserved. (hp:// 222