workshop matlab/simulink in drives and power electronics€¦ · · 2009-05-25palestine...
TRANSCRIPT
Palestine Polytechnic University
Workshop Matlab/Simulink in Drives and Power electronics – Lecture 218-21 May 2009 / 191
WorkshopMatlab/Simulink in Drives
and Power electronics
Lecture 2 : Introduction to Simulink
Ghislain REMY Jean DEPREZ
Palestine Polytechnic University
Workshop Matlab/Simulink in Drives and Power electronics – Lecture 218-21 May 2009 / 192
Workshop Program• 8 lectures will be presented based on Matlab/Simulink :
– 1 Introduction to Matlab
– 2 Introduction to Simulink
– 3 DC-Motor Control design
– 4 DC-Motor Chopper design SimPowerSystems
– 5 Introduction to Stateflow/Statechart
– 6 Induction Motor Inverter Control
– 7 Synchronous Motor Modeling
– 8 Synchronous Motor Control
• Two system applications (four quadrants electric drives of mechanical systems) will be used as "conducting lines" during the workshop.
Palestine Polytechnic University
Workshop Matlab/Simulink in Drives and Power electronics – Lecture 218-21 May 2009 / 193
? SIMULINK ?
SIMULINK is a complement of the MATLAB kernel, which gives a graphic interface to model dynamical systems using a block schematic representation. Using the numerous basic blocks available, it is possible to create simulation models without writing any lines of programming code.
Specialized libraries – Blocksets – are available for specific purposes (Ex : SimPowerSystems, FuzzyLogic, DSP-Target …)
The open architecture allows to extend the simulation environment by:- Creating customized blocs and libraries from MATLAB, Fortran, C or graphic representation,- C codes generation from Simulink simulation models
Several tools are available for the signal analysis
Palestine Polytechnic University
Workshop Matlab/Simulink in Drives and Power electronics – Lecture 218-21 May 2009 / 19
Getting started with SIMULINK• Objective: Simulate a DC Permanent Magnet Motor
driving a mechanic load
4
La
Ra
E
ULoad inertia JLResistant Torque TL
Speed Ω
Electrical Torque TeFriction Torque TFMotor Inertia JMTorque Constant Ke
Ia
Palestine Polytechnic University
Workshop Matlab/Simulink in Drives and Power electronics – Lecture 218-21 May 2009 / 195
Ke = 0.49 Nm/Atf = 0.18 N.mkf = 4.610-4N.m.sRa = 0.49 ΩLa = 4.3 mHJM = 0.0035 kg.m2
DC-SEVOMOTOR RX620J
Palestine Polytechnic University
Workshop Matlab/Simulink in Drives and Power electronics – Lecture 218-21 May 2009 / 19
Equations:
6
U = E + Ra.Ia + La.dIa/dtE = Ke. ΩTe = Ke.IaJ = JM + JLTF = sign(Ω).tf + kf.ΩTe = TF + TL + J.dΩ/dt
TeUΩ1
s
TL
+ --+
TF= Tf +kf*Ω
-1
Ra+La.sKe
Ke
Ia
E
J
x:
Simulation model:
Palestine Polytechnic University
Workshop Matlab/Simulink in Drives and Power electronics – Lecture 218-21 May 2009 / 19
Starting SIMULINK
7
1-Click "Simulink " to open the Simulink Library Browser
2- Click "Create a new model"
3- An empty new model pop-up (.mdl file)
Palestine Polytechnic University
Workshop Matlab/Simulink in Drives and Power electronics – Lecture 218-21 May 2009 / 19
Building the model
8
1- Select a Library
2- Select a component
3- Drag and Drop the icon into the model
4- Double Click on the icon to open the Function Block Parameters window and modify it
Palestine Polytechnic University
Workshop Matlab/Simulink in Drives and Power electronics – Lecture 218-21 May 2009 / 19
Add a value for each Parameters
9
Palestine Polytechnic University
Workshop Matlab/Simulink in Drives and Power electronics – Lecture 218-21 May 2009 / 19
Defining input signals values
10
The Most use Input Signal types are :
•Constant•Step
•From Workspace
•Signal Builder•Sin Wave
Palestine Polytechnic University
Workshop Matlab/Simulink in Drives and Power electronics – Lecture 218-21 May 2009 / 19
Displaying output signals
11
The Most use Output Signal types are :•Scope
•To Workspace
•Terminator
•XY Graph
Palestine Polytechnic University
Workshop Matlab/Simulink in Drives and Power electronics – Lecture 218-21 May 2009 / 19
Initializing the parameters of the motor
12
1- Create a M-filenamed DC_PM_motor_init.m
2- Run this M-file
The values of Ra, La, Ke, tf and kf are then stored in the workspace.
Palestine Polytechnic University
Workshop Matlab/Simulink in Drives and Power electronics – Lecture 218-21 May 2009 / 19
Setting the Simulation Parameters
13
1- Click “Simulation”, then “Configuration Parameters”
2- Modify the value of the Stop time
3- Use a Type of Solver :•Fixed-step•Variable-step
4- Select a Solver :The Most used are :- Ode1 (Euler)
for Real-Time in Fixed-step- Ode23s (stiff/Rosenbrock)
for stiff in Variable-step
5- Select a step size
Palestine Polytechnic University
Workshop Matlab/Simulink in Drives and Power electronics – Lecture 218-21 May 2009 / 19
Starting simulation
14
End of simulation
Palestine Polytechnic University
Workshop Matlab/Simulink in Drives and Power electronics – Lecture 218-21 May 2009 / 19
Displaying results of Simulation: Scope
15
Autoscale
Parameters
! By default, the number of points recorded is limited to the 5000 last points !!!
(see parameters)
Zoom
Palestine Polytechnic University
Workshop Matlab/Simulink in Drives and Power electronics – Lecture 218-21 May 2009 / 19
Saving data to workspace
16
The "To Wokspace" function blockallows the same saving of data, without screen displayUse Array Format for easier use
Solution 2:
Solution 1: The Scope Parameters
time
w
Palestine Polytechnic University
Workshop Matlab/Simulink in Drives and Power electronics – Lecture 218-21 May 2009 / 19
Creating a Subsystem (1/3)
17
1- Select the componentswhich will be inside the Subsystem.
2- Select "Create Subsystem"
Palestine Polytechnic University
Workshop Matlab/Simulink in Drives and Power electronics – Lecture 218-21 May 2009 / 19
Creating a Subsystem (2/3)
18
3- Model is modifyautomaticaly
4- Inside the SubsystemConnections are added:
- Input Port - Output Port
Subsytem Port names are the Port names
Palestine Polytechnic University
Workshop Matlab/Simulink in Drives and Power electronics – Lecture 218-21 May 2009 / 19
Creating a Subsystem (3/3)
19
5- Rearrange the iconsRename the subsystemRearrange and rename inputs and outputs
This subsystem canbe insert in a library(see practice 3)