..

2003

 681.3.06
..
: . - : . , 2003. - 67 c.

MATLAB SIMULINK.

MATHCAD SIMULINK.
,
.
SIMULINK


.
,

200600.


.................................................................................................... 4
1 MATLAB 6................... 5
1.1 MatLab 6............................................................ 5
1.2 Simulink ............................................................. 6
1.3 ............................ 9
2 SIMULINK .............................................. 11
2.1 NCD ............................................................................................... 11
2.2 .................................................. 12
2.2.1 .......................................................................... 12
2.2.2 ..... 13
2.2.3 .......................................... 16
2.2.4 ................................................ 19
2.2.5 S- 20
2.2.6 ......................................... 26
2.2.7 ......................................................................... 30
2.3 Simulink........................................................ 33
3
................................................................................................... 38
4
............................................................................................... 48
. 64
. . 65



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SCADA- .
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MathCAD,
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1 MATLAB 6
1.1 MatLab 6
MatLab 6
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:
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(Command Window),
(Command History), (Workspace Browser)
(Array Editor);
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;
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LAPACK;
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OpenGL;
- Java- Java MatLab;
- ,
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6

 ++ MatLab- ();
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Safe;
- ( )
MatLab;
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(GPIB, HP-IB, IEEE-488) VXI
VXI - GPIB ( Windows Sun Solaris)
RS-232, RS-422, RS-485 ( Linux), , VISA (Virtual Instruments
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Workshop 4;
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MATLAB 6.0
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MatLab;
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Simulink;
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8

- ;
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Real-Time Workshop 4.0 ( )) [S-
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10

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11

2 SIMULINK
2.1 NCD
MatLab Nonlinear Control
Design (NCD), Simulink
NCD Blockset ( 2.1), ,
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-
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S-
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2.1 NCD Outport

NCD Outport ,
2.2. ,
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12

 2.2 NCD Outport

2.2
2.2.1
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2.3.
2.3 :

(2.1)

13

 2.3

(2.2)
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2.2.2
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(2.3)

14

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p
(2.2)
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(2.4)
(2.3) :
(2.5)

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(2.5)
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, :

Ro Rp Io Ip 1

,
I

R
+
R

I
0
o p
o p

(2.6)

Rp

Ip

Ro

2
2
Ro + Io

Io
2

Ro + Io

(2.7)

(2.8)

- :
W( p) K ,

-.
, R K , I 0 , (2.7), -

Ro1(m, )
2

Ro1(m, ) + Io1(m, )

(2.9)

MathCAD:
m := 0.221 ;
15

 := 0 , 0.001.. 0.35 ;

p( ) := (i m) p
Wo1( ) := 1.75

exp(10 p ( ))
40 p ( ) + 1

Ro1( ) := Re(Wo1( ))

( i m) ;

;
Io1( ) := Im(Wo1( ))
;
2

Ao1( ) := Ro1( ) + Io1( ) (2.9);

F( ) := if (Io1( ) 0 , argW
( o1( )) , 2 + argW
( o1( )))

- ;
Ro1( )
R( ) :=
Ao1( )
( K);

F( ) := + F( )

(2.3)
( - -);
K( ) := R( ) .

- 2.4.
, F ( )

K ( )

0 -

2.48 .

-
W

16

2.48

(2.10)

 2.4 -
2.2.3

( 2.3) ,
2.5.

2.5
-

, ..
W ( p) W ( p) Wo ( p) ,
(2.11)
W ( p) ;
W ( p) ;

17

Wo ( p)

0.96
30 p + 1

20 p

.

Wo1( p) W( p)
W( p)
(2.12)
1 + W ( p) W ( p) .
o1

(2.12) (2.11), :
Wo1( p) Wp( p)

W( p)

1 + Wo1( p) Wp( p)

Wo( p) .

(2.13)

. -

K2 +

Wp ( p)

K2

K2 p + K2

(2.14)

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-.

K2 ( i m) + K2

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( i m)

(2.15)

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K2

K m

( m2 + 1)

K2

( m2 + 1)

(2.16)

(2.8) (2.16)
I

Iop

R + I

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( m2 + 1)

(2.17)

K2

I
2
R + I

(
2

m + 1

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(2.7) (2.16) :
Rop

R + I

K2

K2 m

( m2 + 1)

(2.18)

(2.19)

K2

R
2

R + I

18

K2 m

( m2 + 1)

(2.20)

 -,

K2
f ( K2 ) .
, (2.13)

MathCAD:
0.96
1.75
20 p( )
10 p( )
e
e
2.48
30 p( ) + 1
40 p( ) + 1
W( ) :=
1.75
10 p( )
e
2.48
1+
40 p( ) + 1

m := 0.221 ;

:= 0,0.001.. 0.1 ;
p ( ) := ( i m) p ( i m) ;
R ( ) := Re ( W ( ) )

;
I ( ) := Im (W ( ) )
;
2

A ( ) := ( R ( ) ) + ( I ( ) ) ;
R ( ) :=

I ( ) :=

R ( )
A ( )

I ( )
A ( )

-;

K2 ( ) := I ( ) m + 1 -;
K2 ( ) := m I ( ) R ( ) -.

2.6.

19

K2 ( ) 0.05

0.1

0.15

1.5

0.5

0.5

1.5

K2 ( )

2.6
:

K2 ( )

0.973 ;

0.04
K2( )

0.04498.

2.2.4

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2.7

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Wo ( p) 1 e

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Wo ( p) e

20

y ( p)

( p)

(2.21)

 2.7
,

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:
yc
( p)

(2.22)

Wo ( p) .

2.7
yc ( p) y ( p) + y ( p) ,
yc ( p)
( p)

W ( p) + Wo ( p) e

(2.23)

(2.24)

(2.25)

(2.22) (2.24),
Wo ( p)

W ( p) + Wo ( p) e

,
W ( p)

Wo ( p) 1 e

).

(2.26)

2.2.5 S-

21


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Simulink S- .
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Simulink
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Simulink. Continious
Transfer Fcn (
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Numerator MatLab

(
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2.8 Transfer Fcn

22

 2.9 Transfer Fcn

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Time delay ( ) ,
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23

 2.10 Transport Delay

Sum () Math ( 2.11).

2.11 Sum
Icon shape round ()
rectangular (). List of signs ( )
,
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Constant Sources
.
2.12.

24

 2.12 Constant
Constant value
, . , .
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Simulink Extras Additional
Linear. PID Controller (-). 2.13 ,

2.13 PID-Controller

(Proportional), (Integral)
(Derivative) .
Scope .

-. ,
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25

 -
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S-, 2.14.

1.75

0.96

10

40s+1

20

30s+1

0.96
30s+1
1

0.96
20

30s+1
2

PID
-

PID
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2.14 Simulink-
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300 ,
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Start Simulation.
Ready
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26

 2.15 " "

2.16 " "

2.16 ,
( 8 %),

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27

 ,
MatLab.

2.2.6

Scope.
,
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Word, .
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). Properties ()
Data history,
2.17.

2.17 Data history Properties

.
Save data to workspace ( ).
Variable name ( ) , , y,
Scope
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Structure with time ( ).
MatLab ,
S- ( Cascade1) simplot
(y), y,
Scope, Figure No.1, .
28

 2.18. ,
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Figure Properties, Axes Properties
Edit , 2.18.

2.18 Figure No.1

,
Style () ( 2.19). Edit properties
for ( ) ,
. Style (Axis line width)
. Color
.
(, ..).
.
,
2.20.

29


.fig,
, , MatLab.
MatLab :
saveas(gcf,'Process.fig'),

Process , .

2.19 Style Property Editor

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Word, Copy figure Edit
, Word
Word. 2.21
.
MatLab
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30

 2.20

2.21 , Word
2.2.7

S-

(. 2.14) .
31

 ,
S-. , ,
Transfer Fcn ( ) ,
, S-

Transport Delay ( ).
.
Simulink
10 .
Edit Create Subsystem.
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Subsystem , 2.22.
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In1 Out1. -
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S- , 2.23.

2.22 Subsystem

20.
( 2.24). 1, 2, 20
( 2.25).
.

32

0.96

20

30s+1

0.96
30s+1
1
0.96
20

30s+1
2

PID
-

PID
-

2.23 S-

2.24
.
.
- S-
2.26. .
, .

33

 2.25

PID

PID

2.26 S-
2.3 Simulink

.2.2

,
.
,
34

 .

, ,
.

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Simulink
. NCD Outport NCD
Blockset. , ,
MatLab .
NCD Outport
Simulink- ( 2.26).
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NCD
OutPort 1

NCD Outport

PID

PID

2.27 - NCD Outport

NCD Outport ,
2.28. ,
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Simulation .

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Simulink .
35

 , .
(-
- ),
,

MatLab.

2.28 NCD Outport

2.29 2.30
.
Optimization NCD Outport
Paramerters , 2.31.
Tuneable Variables .
MatLab
MatLab. :
>> Kp=1; K2p=1; K2i=0.001;

36

 2.29 -

2.30 -

2.31

37

 Start Optimization
NCD Outport. MatLab
Optimization Converged Successfully (
). NCD Outport ( 2.32)
. ,
.
,
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2.32 NCD Outport

2.33 NCD Outport

38

 ,

MatLab .
.

2.34 NCD Outport

( 2.34)
. MatLab
>> [Kp K2p K2i] ,

:
ans=
1.3867

1.2347

0.0426

NCD Outport ,
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S-.
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39

, ,
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NCD Outport.
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3.1.

1 , 2 ( ), 3 ,
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6 , 7 , 8 ,
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42

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(3.4)

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43

 Simulink - ,
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( 3.2) (3.2).
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3.2
3.3 "" .

In1

In2

Out1

3.3 -
3.4
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44

x' = Ax+Bu
y = Cx+Du

-K-

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1.9
0.2s 2 +s

-
-
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11.5
0.1s+1

-K-

In1

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Out1
In2

3.4 A

3.5 k = +0.001


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3.5.
45

 ( 3.5)
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k
= -0.001 3.6.

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46

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x' = Ax+Bu
y = Cx+Du

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3.8
k = +0.001
, 3.9.
(. 3.8) , 2
,
( 3.10),
( 3.11),
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48

1.14
1.12
1.1
1.08
1.06
1.04
1.02
1
0.98
0.96

10
,

12

14

16

18

20

3.9 k = +0.001

x' = Ax+Bu
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0.2s 2 +s

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3.10 -

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3.5).
49

 3.11
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50

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51

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53




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4.3

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1.9
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11.5
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4.4

4.5.

f(u)
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4.5

54


(
).
4.6.
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( 4.7).
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4.2), ,
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55


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56

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57

 (. 4.2).
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58

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60

 MatLab. 5000
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61

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62

 ( Switch Nonlinear Simulink)

( 4.18). Treshold ()
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4.18 (Switch)

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Simulink. Simulink Enable Signals&Systems,
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4.19 -
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63

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4.20 Out
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64

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SCADA-

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66

1 . . MatLab. - .:
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2 . . MatLab: C . - .: " ", 1997. - 350 .
3 . . MatLab 5 : C
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