1Clment DAVID &Yann COLLETTE

The Scilab Consortium

XcosHybrid dynamic systems modeler and

simulator

16th june 2010

2 Internal Scilab module

Freely available with Scilab (free and open platform for numerical computation)

PurposesHybrid dynamic systems modeler and simulator

Using functional black-boxes and data/event links

Xcos: Introduction

3Xcos: Features

Graphically model, compile, and simulate dynamical systemsCombine continuous and discrete-time behaviors in the same model

Select model elements from Palettes of standard blocks

Program new blocks in C, Fortran, or Scilab Language

Use standardsHDF5 standard which has been chosen to guarantee data exchanges between Scilab and Xcos Editor

A free Modelica compiler which enables the simulation of implicit diagrams

A brand new graphical user interface based on JGraphX

4Xcos: Overview

5Xcos: Overview

6Xcos: Overview

7Xcos: Overview

8Xcos: Overview

9Xcos: Overview

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Xcos: Overview

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Xcos: Overview

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Xcos: A simple block (1)

Data links and data ports

Data communication is handled by data ports and data links (in black)

Event links and event ports (discrete time)Activation and control is performed through event ports and links (in red).

Xcos blockInputs Outputs

Controls

Commands

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Xcos: A simple block (2)

An interface function (Scilab macro)

Used to configure the block when editing the diagram

A functional implementationUsed to simulate the block in the simulation engine

Inputs Outputs

Controls

Commands

parametersmanagement

BLOCK.sci

runtime evaluationfunction

block.c

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Xcos editor

Scicos compiler

Scilab ScicossimulatorCode

generation

Java-based diagram editor Ergonomic Run in parallel with Scilab interpreter Backward compatibility

Xcos: the new editor

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Xcos: Reusing Scilab quality process

Available in nightly builds Integrated in Scilab roadmap Use Scilab development flow

Git revision system Code review Automatic nightly validation

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Demo time,

any questions ?

www.scilab.org

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ScilabTec 2010

Optimization of a PID regulator

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Optimization of a PID regulator

The content of the xcos context:

if ~exists('w0') then w0 = 2*%pi*100; endif ~exists('K0') then K0 = 0.01; endif ~exists('m') then m = 0.5; endif ~exists('P') then P = 1; endif ~exists('I') then I = 1; endblock_output('values') = zeros(2000,2);block_output('times') = zeros(2000,1);

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Optimization of a PID regulator

importXcosDiagram('automatic_test.xcos');

function y = f_pid(x)context.w0 = w0;context.m = m;context.K0 = K0;context.P = x(1)*Pfact;context.I = x(2)*Ifact;Info = scicos_simulate(scs_m,list(),context,flag='nw');y_error = mean(abs((block_output('values')(:,1) - block_output('values')(:,2))));y_diff = mean(abs(diff(block_output('values')(:,2))));y = 0.5*y_error + 0.5*1*y_diff; .

endfunction

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Optimization of a PID regulator

Before optimization After optimization

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Demo time,

any questions ?

www.scilab.org

22

ScilabTec 2010

Programming new blocks

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Definition of a new C blockGoal:Store N samples of the input in a bufferOuput the buffer as a vector output of size N

Parameters:Padding value (real parameter - rpar)Buffer size (int parameter - ipar)

We will first interface our block through a GENERIC block (In the user defined palette).

00,51

0,50

-0,5-1

-0,50

0,51

Buffer size

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Definition of a new C blockThe simulation function side

#include "scicos_block4.h"

void buffer_vect_xcos(scicos_block *block, int flag){ int nsamples = GetIparPtrs(block)[0]; double padding_value = GetRparPtrs(block)[0];

switch(flag) {

case Initialization: GetWorkPtrs(block) = (double *)MALLOC(sizeof(double)*nsamples); for(int i=0;i

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Definition of a new C blockThe interface function side (1/2)

function [x,y,typ]=BUFFERVECT_c(job,arg1,arg2)...select jobcase 'plot' then standard_draw(arg1)case 'getinputs' then [x,y,typ] = standard_inputs(arg1)case 'getoutputs' then [x,y,typ] = standard_outputs(arg1)case 'getorigin' then [x,y] = standard_origin(arg1)case 'set' then

case 'define' then

endendfunction

A

B

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Definition of a new C blockThe interface function side (2/2)

case 'define' then buf_size = 1; pad_val = 0.0;

model = scicos_model(); model.sim = list('buffer_vect',4); model.in = 1; model.in2 = 1; model.intyp = 1; model.outtyp = 1; model.out = buf_size; model.out2 = 1; model.evtin = 1; model.ipar = [buf_size]; model.rpar = [pad_val]; model.blocktype = 'd'; model.dep_ut = [%t %f];

label = string([buf_size; pad_val]); ...end

case 'set' then while %t do

[ok,buf_size,pad_val,exprs] = scicos_getvalue('Set parameters Block',..

['Buffer size';'Padding value'], list('vec',1,'vec',1), label);

if ~ok then break, end if (buf_size

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The FFT scope

Some more custom blocks

Signal 1

Signal 2

This block is not yet available under Scilab.(Scilab 5.3)

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External module hierarchyXcosMod

builder.sceEtc

XcosMod.startXcosMod.quit

macroshelp

en_USfr_FR

sci_gatewayCCppFfortran

srcCCppFortran

testsunit_testsnonreg_tests

Building the blocks and build the palette

Loading macros, libs, gateways and adding the palette to xcos

The interfacing functions of the blocks + others functions

The simulation functions of the blocks + other functions

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Palette loading process

// Build xcos palette// =========================================================

xpal = xcosPal("Buffer");xpal = xcosPalAddBlock(xpal, 'FFT_SCOPE', module_dir + '/macros/img/fft_scope.jpg');xpal = xcosPalAddBlock(xpal, 'PS_SCOPE', module_dir + '/macros/img/ps_scope.jpg');xpal = xcosPalAddBlock(xpal, 'VECTOR_SCOPE', module_dir + '/macros/img/vector_scope.jpg');xpal = xcosPalAddBlock(xpal, 'BUFFER_VECT', module_dir + '/macros/img/buffer_vect.jpg');xpal = xcosPalAddBlock(xpal, 'REAL_FFT', module_dir + '/macros/img/real_fft.jpg');xpal = xcosPalAddBlock(xpal, 'INVERSE_FFT', module_dir + '/macros/img/inverse_fft.jpg');xpal = xcosPalAddBlock(xpal, 'WINDOW_FUNC', module_dir + '/macros/img/window_func.jpg');

xcosPalExport(xpal, module_dir + '/Buffer.xpal');

// load palette// ======================================

xcosPalAdd(module_dir + '/Buffer.xpal');

A part of XcosMod/builder.sce

A part of XcosMod/etc/XcosMod.start

30

Demo time,

any questions ?

www.scilab.org

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Thanks for your attention,

any questions ?

www.scilab.org

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