labview控制仿真与实践

Introductionto,in3Hours,forControlDesignandSimulation,CourseGoals,Prerequisite:LearnLabVIEW8in3HoursRequirements:LabVIEW8.2orlaterLabVIEWControlDesignToolkit2.1orlaterLabVIEWSimulationModule8.2orlater(Optional)NIELVIS&QuanserQNETDCMotorHardwareBecomecomfortablewiththeLabVIEWControlDesignToolkitandSimulationModuleLabVIEWConceptsConstructtransferfunctionsandbuildsystemsDevelopacontrolalgorithmandanalyzeitsresponseSimulateacontrolalgorithmwithnon-linearbehaviorOptimizealgorithmsthroughtheinteractiveenvironment,TheVirtualInstrumentationApproach,VirtualInstrumentationApplications,DesignSignalandImageProcessingEmbeddedSystemProgramming(PC,DSP,FPGA,Microcontroller)SimulationandPrototypingAndmoreControlAutomaticControlsandDynamicSystemsMechatronicsandRoboticsAndmoreMeasurementsCircuitsandElectronicsMeasurementsandInstrumentationAndmore,Asinglegraphicaldevelopmentplatform,SpectrumofControlApplications,ProcessControl,PrecisionMachineControl,MotionControl,FlightControl,EngineControl,IndustrialControlEmbeddedControl,TopicsCovered,A.Review:LabVIEWEnvironmentFrontPanel/BlockDiagramToolbar/ToolsPaletteB.TheDesignProcessModelingControlDesignSimulationOptimizationDeployment,StartAllProgramsNationalInstrumentsLabVIEW8.2,StartupScreen:,StartfromaBlankVI:NewBlankVIStartfromanExample:ExamplesFindExamples,or,Review:OpenandRunLabVIEW,Review:CreatingaVirtualInstrument,LabVIEWprogramsarecalledVirtualInstrumentsorVIs.EachVIhastwowindowsFrontPanelUserInterface(UI)Controls=UserInputsIndicators=OutputsBlockDiagramProgramCodeDatatravelsonwiresfromcontrolsthroughfunctionstoindicatorsBlocksexecutebyDataflow,BlockDiagram,FrontPanel,FrontPanel,Review:FrontPanelControlsPalette(Controls&Indicators),Indicator:Gauge,Control:Numeric,Review:BlockDiagramFunctionsPalettes,Structure:WhileLoop,BlockDiagramWindow,FrontPanelWindow,Review:BlockDiagramTerminals,Recommended:AutomaticSelectionToolToolstooperateandmodifybothfrontpanelandblockdiagramobjects,Review:ToolsPalette,Automaticallychoosesamongthefollowingtools:,RunButtonContinuousRunButtonAbortExecution,ExecutionHighlightingButton,AdditionalButtonsontheDiagramToolbar,Review:StatusToolbar,RetainWireValuesButton,StepFunctionButtons,BlockdiagramexecutionDependentontheflowofdataBlockdiagramdoesNOTexecutelefttorightNodeexecuteswhendataisavailabletoALLinputterminalsNodessupplydatatoalloutputterminalswhendone,Review:DataflowProgramming,Review:ContextHelpWindow,HelpShowContextHelp,pressthekeysHovercursoroverobjecttoupdatewindow,AdditionalHelpRight-ClickontheVIiconandchooseHelp,orChoose“DetailedHelp.”onthecontexthelpwindow,Review:TextualMathinLabVIEW,IntegrateexistingscriptswithLabVIEWforfasterdevelopmentInteractive,easy-to-use,hands-onlearningenvironmentDevelopalgorithms,exploremathematicalconcepts,andanalyzeresultsusingasingleenvironmentFreedomtochoosethemosteffectivesyntax,whethergraphicalortextualwithinoneVI,SupportedMathTools:MathScriptscriptnodeMathSoftsoftwareMathematicasoftwareMATLABsoftwareMaplesoftwareXmathsoftware,MATLABisaregisteredtrademarkofTheMathWorks,Inc.,Review:MathwiththeMathScriptNode,ImplementequationsandalgorithmstextuallyInputandOutputvariablescreatedattheborderGenerallycompatiblewithpopularm-filescriptlanguageTerminatestatementswithasemicolontodisableimmediateoutput,PrototypeyourequationsintheinteractiveMathScriptWindow.,(FunctionsProgrammingStructuresMathScript),Review:TheInteractiveMathScriptWindow,Rapidlydevelopandtestalgorithms,(LabVIEWToolsMathScriptWindow),OutputWindow,VariableWorkspace,View/ModifyVariableContents,UserCommands,m-fileScript,ShareScriptsandVariableswiththeNodeView/ModifyVariablecontentin1D,2D,and3D,ReviewExercise:IntroductiontoLabVIEW,Objectives:CalculatetheAccelerationgivenForceandMassBecomefamiliarwiththeLabVIEWEnvironment,HiddenNotesPage,TheDesignProcess,ModelingIdentifyamathematicalrepresentationoftheplantControlDesignChooseacontrolmethodanddesignacontrollerSimulationEmployapoint-by-pointapproachtosimulatethesystemtimingwithasolverTuningandVerificationIntroducereal-worldnonlinearities,tune,andverifythecontrolalgorithmDeploymentImplementthefinalizedcontrolsystem,Step1:ModelingIdentifyamathematicalrepresentationoftheplant,ModelingIdentifyamathematicalrepresentationoftheplantControlDesignChooseacontrolmethodanddesignacontrollerSimulationEmployapoint-by-pointapproachtosimulatethesystemtimingwithasolverTuningandVerificationIntroducereal-worldnonlinearities,tune,andverifythecontrolalgorithmDeploymentImplementthefinalizedcontrolsystem,TheDesignProcess,Createamodelthatdescribesthemotorspeedgivenaninputvoltage.,WhyModel?,AmodelrepresentsaphysicalsystemInputsandoutputshavereal-worldunitsItisoftenasimplificationofthesystemsbehaviorManytypesofsystemscanbemodeledMechanicalsystemsElectroniccircuitsAnaloganddigitalfiltersThermalandfluidsystemsModelscanberepresentedinmanywaysTransferfunctionStatespaceOthers,ModelingwiththeTransferFunction,AtransferfunctionprovidesamathematicaldescriptionormodelforhowtheInputsandOutputsofasystemarerelated.Inthiscase,thesystemisamotor.MotorinputisvoltageMotoroutputisangularvelocityInthiscase,themodelofthesystemisderivedfromthephysicalmodel(usingphysics).AnalternativewouldbetomeasuresystemresponsetostimulusandderiveamodelwithLabVIEWSystemIdentificationToolkit.,QNETDCMotorControlTrainer,ThemodelinthiscourseisbasedontheQuanserQNETDCMotor.Themotorisa24voltDCmotorThemotorishighlylinearintermsofitsspeedgivenavoltageWewillusetheControlDesignToolkitfunctionstocreatethemathematicalmodelinLabVIEW,Electrical1.2.3.Mechanical.,DerivingtheMotorModel,MotorDiagram,FixedMagnetsMotorCoilBrushesDriveShaftEncoderInertialMass,MotormodelderivationfromQuanserQNETInteractiveLearningGuide.Copyright2005,byQuanserInc.Allrightsreserved.,MotorSpecificationsSheet,MotormodelspecificationsfromQuanserQNETInteractiveLearningGuide.Copyright2005,byQuanserInc.Allrightsreserved.,LabVIEWControlDesignToolkit,ConstructandanalyzesystemmodelsDesignbasicandadvancedcontrolalgorithmsSimulateresponseofcontrollerdesignsAnalyzecontrolefficiencyandstabilityinteractively,ConstructingModelsGraphically,CreatecontinuousanddiscretetimemodelsModelscanbecreatedsymbolically,ConstructingModelsTextually,MathScriptallowsmodelstobecreatedusingm-filesyntax.,Exercise1a:CreateandDisplayaTransferFunction,Usephysicalspecificationstocreateaplantmodel.BuildatransferfunctionwithControlDesignToolkit.,Exercise1b:CreateandDisplayaTransferFunction,UsephysicalspecificationstocreateaplantmodelBuildatransferfunctionwithControlDesignToolkit,Step2:ControlDesignChooseacontroltypeanddesignacontroller,TheDesignProcess,ModelingIdentifyamathematicalrepresentationoftheplantControlDesignChooseacontrolmethodanddesignacontrollerSimulationEmployapoint-by-pointapproachtosimulatethesystemtimingwithasolverTuningandVerificationIntroducereal-worldnonlinearities,tune,andverifythecontrolalgorithmDeploymentImplementthefinalizedcontrolsystem,Usefeedbacktocontrolthespeedofthemotorinthepresenceofdisturbances.,ControlSystems,AcontrolsystemconsistsofaControllermodelandaPlantmodel.Controlsystemscanbeopenorclosedloop.,PIDControlAlgorithm,PIDstandsforProportional,Integral,DifferentialCommonalgorithmfor:Linear,SingleInputSingleOutput(SISO)UseserrorfromfeedbackascontrolinputProportional:ProportionallinearreactiontoerrorDifferential:ReactmorewhensignalischangingquicklyIntegral:Reactwhenerrorispresentoveralongperiodoftime,+,_,Setpoint,Output,ConstructingaPIDControllerwithControlDesignToolkit,CreateaPIDmodelintheformofatransferfunctionModelcanthenbeinterconnectedwithplantmodel,Series:,Parallel:,Feedback:,ControlDesignModelInterconnection,Graphical,MathScript,ControlDesignModelInterconnection(MathScript),UseMathScriptcommandstointerconnectmodelsTypesofinterconnection:SeriesParallelFeedbackAppend,ConnectmodelsinseriesandparallelCreatefeedbackloops,ControlDesignModelInterconnection(Graphical),TimeResponseAnalysis,ParametricTimeResponseOvershootRiseTimeSteadyStateError,DisplayingFrequencyResponseandDynamicCharacteristicsData,ControlDesignAnalysisandDisplay,PerformgenerallinearsimulationsinthetimedomainAnalyzemodelsinthefrequencydomainCalculatedynamicpropertiesofamodel,Review:WhileLoops,terminalcountseachiterationAlwaysrunsatleastonceRunsuntilstopconditionismet,Exercise2:ConstructaPIDController,BuildaPIDcontrollerwithControlDesignToolkit.CreateasystemthatcombinesPIDcontrollerwithexistingtransferfunction.Viewtimeandfrequencyresponsedata.,Step3:SimulationTestthecontrollerandincorporatereal-worldnonlinearities,ModelingIdentifyamathematicalrepresentationoftheplantControlDesignChooseacontrolmethodanddesignacontrollerSimulationEmployapoint-by-pointapproachtosimulatethesystemtimingwithasolverTuningandVerificationIntroducereal-worldnonlinearities,tune,andverifythecontrolalgorithmDeploymentImplementthefinalizedcontrolsystem,TheDesignProcess,Testthemotorandcontrollerwithreal-worldtimingandacontinuoustimesolver.,LabVIEWSimulationModule,DevelopdynamicsystemssuchasmotorcontrollersandhydraulicsimulatorswithLabVIEWImplementyourdynamicsystemswithreal-timeI/Ousingbuilt-inLabVIEWdataacquisitionfunctionsSimulatelinear,nonlinear,anddiscretesystemswithawidearrayofsolversDeploydynamicsystemstoreal-timehardwarewiththeNILabVIEWReal-TimeModuleTranslatemodelsfromTheMathWorks,Inc.SimulinkintoLabVIEWwithbuilt-inutility,TheSimulationLoop,BuiltinDifferentialEquationSolverallowscontinuous-timesystemSimilartoaWhileLoopwithapredefinedtimeperiodInstalledwithSimulationModuleDouble-clickInputNodetoconfiguresimulationparametersCreateanindicatorontheOutputNodetodisplaySimulationerrors,InputNode,MainLoop,OutputNode,SimulationLoopParameters,Dragleftnodetoshowcurrentparametersandprovideinputsforrun-timesimulationconfigurationDouble-clickInputNodetoconfiguresimulationparameters,DrawingaSimulationLoop,SelectthestructurefromtheFunctionsPalette,2.Left-clickatthetopleftpoint,anddragtothebottomrighttoenclosecodetobelooped,GeneratingSimulationInput,SimulatedSignalsStepInputImpulseFrontPanelUserInputRealWorldsignalsDataAcquisitionHardware,Simulationscanutilizeawidevarietyofsignalsources:,CapturingSimulationOutput,UsetheGraphUtilitiesfunctionstoplotoneormoresignalsPlotsareupdatedastheSimulationLoopexecutes,Exercise3:SimulatetheMotorControlSystem,BuildaPIDcontrollerwithSimulationModule.CreateastatemodelthatcombinesPIDcontrollerwithexistingtransferfunction.UsedifferentsolvermethodsintheSimulationlooptooptimizeperformance.,Step4:TuningandVerificationTunethecontrollerbehaviortomeetdesignspecificationsinarealisticenvironment,ModelingIdentifyamathematicalrepresentationoftheplantControlDesignChooseacontrolmethodanddesignacontrollerSimulationEmployapoint-by-pointapproachtosimulatethesystemtimingwithasolverTuningandVerificationIntroducereal-worldnonlinearities,tune,andverifythecontrolalgorithmDeploymentImplementthefinalizedcontrolsystem,TheDesignProcess,Introducereal-worldvoltagelimitsandtunecontrolparametersforperformance.,IntroducingNonlinearities,SourcesofNonlinearitiesSaturationNoiseFrictionNonlinearitiescauseidealmodelsandcontrollerstobehavedifferentlyintherealworld.,NonlinearityExample,IdealresponsewithlinearmodelinControlDesign,SamecontrollerwithsaturationaddedinSimulation,IntroducingasaturationnonlinearitywiththeSimulationModulecanchangethebehaviorofamodeldramatically.,Kc=10Ki=0Kd=1,ControllerOptimization,ControlDesignTuneControllerParametersEstimatePerformanceSimulationIntroduceImpairmentsandNonlinearitiesVerifyPerformanceControlleroptimizationisaniterativeprocess,TuningyourPIDController,TunePIDcontrollerdesignusingthestepresponseBeginwithGainssetat:Kc=1,Ki=0,andKd=0IncreaseProportionalGain(Kc)togetdesiredrisetimeIncreaseDerivativeGain(Kd)toreduceovershootandsettlingtimeIncreaseIntegralGain(Ki)toreducesteady-stateerrorifnecessary,Exercise4:TunetheController,ChangeSimulationlooptoacontinuousmodelIncorporatenonlinearitiesintostatemodel.TunePIDparameterswithacontinuousinput.,Step5:DeploymentImplementthefinalizedcontrolsystem,ModelingIdentifyamathematicalrepresentationoftheplantControlDesignChooseacontrolmethodanddesignacontrollerSimulationEmployapoint-by-pointapproachtosimulatethesystemtimingwithasolverTuningandVerificationIntroducereal-worldnonlinearities,tune,andverifythecontrolalgorithmDeploymentImplementthefinalizedcontrolsystem,TheDesignProcess,Deploythecontrolalgorithmonrealhardwaretocontrolthespeedofthemotor.,ControlSystemDeploymentOptions,AlgorithmsdesignedinLabVIEWControlDesignToolkitandSimulationModulecanbedeployedonadesktopPC,oraRealTimesystem.DesktopPCProgramrunsonWindowsInputandOutputviaNIDataAcquisitiondeviceFor