1. EE 460 Advanced Control and System Integration
EE 460 Advanced Control and Sys Integration An Introduction to Simulink
Wed, October 7
EE 460 Advanced Control and System Integration

2. An Intro. to Simulink Modeling the QUANSER QUBE-Servo
Let’s Develop a model of a DC servomotor in Simulink
Motor with load
Symbol
Value (units)
Description Rm
8.4 (Ohm)
Armature resistance Lm
0.85x10-3 (H)
Armature inductance Km
0.042 (V/(rad/s))
Back-EMF constant Kt
0.042 (Nm/A)
Torque constant Jh
𝑚 ℎ 𝑟 ℎ 2 /2 (kg.m2)
Load Hub Inertia ( 𝑚 ℎ =0.0106, 𝑟 ℎ =0.0111) Jd
𝑚 𝑑 𝑟 𝑑 2 /2 (kg.m2)
Disk Inertia ( 𝑚 𝑑 =0.053, 𝑟 𝑑 =0.0248) Jm
4.0x10-6 (kg.m2)
Rotor Inertia
Wed, October 7
EE 460 Advanced Control and System Integration

3. An Intro. to Simulink Modeling the QUANSER QUBE-Servo
Build the Simulink Model
Start MATLAB (run as admin)
Open Simulink
>> Simulink
Create a Blank model
New -> Simulink Model
Select the Blocks from the Library Browser
Continuous -> Transfer Fn
Enter Numerator and Denominator coefficients
Lm and Rm
Change name of block
Voltage to Currrent
Add remaining blocks
Wed, October 7
EE 460 Advanced Control and System Integration

4. An Intro. to Simulink Modeling the QUANSER QUBE-Servo
Define the values of the parameters in MATLAB
Can use a *.m file
Run the simulation
Change model sim params
You MUST run the *.m file first as it will define the model params used in the Simulink design!!
Wed, October 7
EE 460 Advanced Control and System Integration

5. An Intro. to Simulink Comparing the Simulation with Real Hardware
Now let’s compare simulation with real hardware!!
Change the input and output to ports
Name the input port “Vin (V)”
Name the output port “w (rad/s)”
Create a subsystem from the model
Add a “step” input
Set the step time to 1 sec
Set the simulation duration to “2” – i.e., two seconds
Add a scope and check if it all works!!
%% Students MUST run these two lines code
>> C:\Program Files\Quanser\QUARC\quarc\quarc_setup
>> mex -setup:'C:\Program Files\MATLAB\2014B\bin\win64\mexopts\winsdk-7.1_c.xml' C
Wed, October 7
EE 460 Advanced Control and System Integration

6. An Intro. to Simulink Comparing the Simulation with Real Hardware
Now add the QUARC blocks to communicate with the real-time hardware
From the Simulink Library Browser Add:
QUARC Targets -> Data Acquisition -> Generic -> configuration
HIL Initialize
Double click on the icon and set Board Type: to qube_servo_usb
QUARC Targets -> Data Acquisition -> Generic -> Intermediate I/O
HIL Write Analog
Double click on the icon and select Board Name -> HIL-1
Set the Simulation Mode -> External
Wed, October 7
EE 460 Advanced Control and System Integration

7. EE 460 Advanced Control and System Integration
Now Build ( ), Connect to Target ( ), and Run ( )
The disc should now spin
Wed, October 7
EE 460 Advanced Control and System Integration

8. An Intro. to Simulink Comparing the Simulation with Real Hardware
Now add blocks to read the motor’s speed and compare with simulation
Add QUARC Targets -> Data Acquisition -> Generic -> Timebases
HIL Read Encoder Timebase
Add QUARC Targets -> Discontinuities
Inverse Modulus
Double click and enter Modulus: 2^16
Add a Gain block with Gain: 2*pi/512/4
Add a low-freq differentiator
Transfer function: 200s/(s+200)
Add a 2:1 mux and then connect to a scope
Wed, October 7
EE 460 Advanced Control and System Integration

9. An Intro. to Simulink Comparing the Simulation with Real Hardware
As before: Now Build, Connect to Target, and Run
Wed, October 7
EE 460 Advanced Control and System Integration

10. An Intro. to Simulink Comparing the Simulation with Real Hardware
Final Result
Wed, October 7
EE 460 Advanced Control and System Integration