Simulink & Physical Modeling

1Whats new in Simulink 2013

Roni Peer, M.E.

Senior Applications Engineer

Systematics, Ltd.

[email protected]

http://www.linkedin .com/in/ronipeer

R2013b

2WHY is MathWorks investing heavily in

product updates?

Increase the scope of the Simulink

modeling language to expand what

problems it can be used to solve

Improve the efficiency of the

Simulink modeling language and

generated code

Increase control over design

tradeoffs and look of generated code

Reduce the amount of time it takes

to run simulations, test designs, and

generate code

Improve iteration, verification, and

configuration management

Facilitate collaboration, especially for

modeling large systems

3R2012a/b was a big release

4CONFIDENTIAL | 4

So is R2013a/b! Simulink & Stateflow

Managing design variants Authoring MATLAB IP Hardware support The new editors Native Single Precision

Physical modeling Next generation of Power

Systems modeling New thermal liquids

library Size actuators using

SimMechanics

Control Design Automated tuning of gain-

scheduled controllers V&V

New Polyspace products Linking requirements to

MATLAB code Code Generation

Xilinx Zynq (C and HDL) ARM Cortex-M Safety-critical

5Simulink

The New Editors

Managing design variants

Authoring MATLAB IP

Hardware support

LCC 64-bit

6Simulink Editor

Ability to add rich controls, links, and images to

customized block interfaces using the Mask Editor

Content preview for subsystems and Stateflow

charts

Comment-through capability to temporarily delete

blocks and connect input signals to output signals

Visual cues for signal lines that cross

UTF-16 character support for block names, signal

labels, and annotations in local languages

7The New Editors

8Component Based Modeling

MATLAB System block for including System objects inSimulink models

Variant Manager that manages all the variants in amodel in one place

Improved componentization capabilities for modelingscheduling diagrams with root-level function-call inports

Array of buses signal logging in model referenceaccelerator mode

Ability to add, delete, and move input signals within BusCreator block

Streamlined approach to migrating from Classic toSimplified initialization mode

9System objects

classdef RemoveMean < matlab.System% Remove estimated running mean.

properties% Memory weightingWeight = 0.8

end

properties (DiscreteState)Mean = 0 % Initial value

end

methods (Access=protected)function out = stepImpl(obj,in)

out = in - obj.Mean;obj.Mean = in - out*obj.Weight;

endend

Work in MATLAB and Simulink

Foundation for System Toolboxes

Generate code

10

Consider this example: Same vehicle available in different countries

Different engine

options

Different regional

emission regulations

Different chassis

mounts

Different power/

efficiency tunings

Different transmission

options

How do you design software for all

these different alternatives?

11

Problem: Switching and Configuring

Chassis Engine Software

Model 1

Model 2

Model 3

Transmission

Model 4Model 5Model 6

81 possible combinations!

12

Solution: Manage different design

variations in the same model

Fewer models Easy switching between variants Less errors

Configurable software with single code base

Model Variants, Variant Subsystems and Variant Manager

13

MATLAB System BlockAuthor Simulink blocks using MATLAB System objects

What are System Objects?

Enabled Simulink Blocksets in MATLAB (R2010a)

Create your own System Objects (R2011b)

Generate C Code (R2012a)

What are their benefits?

Structured programming - Object Oriented

Ideal for streaming applications and modeling discrete-time dynamic systems in MATLAB

Enable bringing MATLAB back to Simulink (R2013b)

14

Hardware support packages

Available in Student Version!

New Support for:

Arduino Nano, and Ethernet Shield

Mac OSX (Arduino)

Why is this important?

40% adoption of Mac at top universities

Arduino is a popular target

Is this just for edu?

No, it intrigues all engineers accessibility,

teaching, learning MBD

Seamless connectivity for educational hardware allows rapid prototyping and quick feasibility testing No Code Generation tools required

Raspberry Pi

PandaBoard

Arduino LEGO MINDSTORMS NXT

BeagleBoard

Gumstix Overo

15

Hardware Connectivity

16

Modeling Concurrency

Simulink Model

F1 F6F5F4F3F2

Target Specification

Map blocks to tasks

Task Task Task SchedulerCore

Core

Existing concurrency

within the design

(target-agnostic)

Available

concurrency on

the hardware

(target-specific)

Explore several mappingsbetween blocks and tasks

17

V&V

New Polyspace products

Linking requirements to MATLAB code

18

Polyspace

New products

Polyspace Bug Finder

Polyspace Code Prover

MATLAB is required for Polyspace in R2013b

19

Polyspace Bug Finder

Quickly find bugs in C/C++

Check code compliance to MISRA or JSF

Works with Embedded Coder to trace results to models

Polyspace Code Prover

Get insight about your software

Prove that your software will not fail

Certify your software to DO-178 or ISO 26262

20

static void pointer_arithmetic (void) {int array[100];int *p = array;int i;

for (i = 0; i < 100; i++) {*p = 0;p++;

}

if (get_bus_status() > 0) {if (get_oil_pressure() > 0) {

*p = 5;} else {

i++;}

}

i = get_bus_status();

if (i >= 0) {*(p - i) = 10;

} }

Results from Polyspace Code Prover

Green: reliablesafe pointer access

Red: faultyout of bounds error

Gray: deadunreachable code

Orange: unprovenmay be unsafe for some

conditions

variable I (int32): [0 .. 99]

assignment of I (int32): [1 .. 100]

Range datatool tip

Purple: violationMISRA-C/C++ or JSF++

code rules

21

Bug Finder and Code Prover on integrated code

22

Simulink Verification and ValidationLinking requirements to MATLAB code

Used by:

Systems engineers tracking design or requirement changes

Design engineers who rely heavily on MATLAB code

DO-178 mandates traceability to ALL parts of the design

Used How?

Link requirements to MATLAB code for

Parameter definition

Algorithms

Test cases

etc.

Highly requested ability

23

Simulink Verification and ValidationLinking requirements to MATLAB code

24

Code Generation

Xilinx Zynq (C and HDL)

ARM Cortex-M

25

Zynq Design Challenges

FPGA Designers not familiar with programming processors

DSP/Processor programmers not familiar with FPGAs

What should run on the FPGA vs. what should run on the ARM?

No established rules for hooking up the interfacebetween FPGA and ARM processor

ARM ProcessorC-CodeSoftware

Interface FPGAHDL CodeHardware

26

How do we make Zynq programming

easier?

ARM ProcessorC-CodeSoftware

Interface FPGAHDL CodeHardware

Established workflow with Embedded Coder Established workflow with HDL Coder

Guided Workflow for HDL code generation Automatic Interface Generation

27

ARM Cortex-M supportEmbedded Coder and DSP System Toolbox

ARM devices are becoming ubiquitous in embedded systems and Cortex-

M is focused on controls and low-end signal processing

ST, TI, Freescale, ADI, etc.. are all building processors with ARM Cortex-M

cores for motor control, audio, and related applications

TODAY:

You can generate ARM optimized code from Simulink blocks and DSP

System Toolbox filters using Embedded Coder

92

... 03

30

Whats new in Simulink 2013

Roni Peer, M.E.

Senior Applications Engineer

Systematics, Ltd.

[email protected]

http://www.linkedin .com/in/ronipeer

31

Controls

32

Controls and Identification

Robust Control Toolbox

Model Predictive Control

Fuzzy Logic Toolbox

System IdentificationToolbox

Simulink Control Design

Simulink Design Optimization

Control System ToolboxPlant

Modeling

Control Design

33

Simulink Control DesignImproved performance of batch linearization

For example, batch linearization with N varying parameters

for ct1 = 1:numel(P1)

for ctN = 1:numel(PN)

T() = linearize(mdl,io_T);

end

end

P1 x.x PN model compilations

[P1val,..,PNval] = ndgrid(P1,..,PN);

params(1).Name = 'P1'

params(1).Value = P1val;

...

params(N).Name = 'PN';

params(N).Value = PNval;

T = linearize(mdl,io_T,params);

1 model compilation!

a: 2013R b:2013R

34

Simulink Control Design New slLinearizer API to extract multiple responses

One Model compliation!

T = getIOTransfer(lin,'r','y')

lin = slLinearizer(mdl,{'r','u','y'},params)

L = getLoopTransfer(lin,'u')

S = getSensitivity(lin,'y')

35


Simple systune/looptune workflow to tune any control

architecture

Added design requirements for overshoot, min/max loop

gains and sensitivity

Loop ShapeGain limits (H)

36

Use systune/looptune to tune gain-scheduled controllers! Airframe model whose dynamics vary by velocity, V, and angle of attack, alpha

Use linearize to create an array of linear models for different V and alpha combinations

Characterize controller gains as functions of V and alpha,

e.g. Kp = a0+a1*V+a2*alpha+a3*V*alpha

Use systune to tune a0, a1, a2, a3 etc.


37

System Identification Toolbox

Added estimation

regularization

Improves reliability of

models with many

parameters (limits over

fitting)

Added Subspace

Identification Algorithm for

State-Space models (ssarx)

38

Simulink Design Optimization

Redesigned commands for

estimation

Custom cost functions,

parameter constraints, and

estimation of parameters

per experiment

More power and flexibility

for setting up and running

parameter estimation tasksEstimate

parameters

39

Physical Modeling

Next generation of power systems modeling

New thermal liquids library

Size actuators using SimMechanics

40

Simscape

SimDriveline

SimMechanics

SimHydraulics

SimElectronics

SimPowerSystemsSimRF

41

Scope: Simscape Language

Torque = -

Angular Velocity =

2k

dtd

42

SimPowerSystemsThird Generation Technology

Simscape-based libraries

added to SimPowerSystems

Integrate other domains or

electrical

effects into your power

systems models

Customize with Simscape

language

43

SimscapeThermal Liquid Library

New domain and library

for thermal liquid systems

Single-phase liquids

Fluid properties vary

with temperature

Uses MathWorks patented

robust modeling approach

44

SimMechanicsPrescribed Motion, Actuation Forces

Use SimMechanics

to size actuators

Prescribe motion for joints

via an input signal

Calculate the force required

to produce motion at any

selected joint

New

45

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"

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Simulink & Physical Modeling