matlab基礎(chǔ)教程Simulink基礎(chǔ)

1、.第八章 Simulink 根底Chapter 8: Introduction to Simulink一 Simulink 初步Primer of SimulinkMATLAB Simulink是一個動態(tài)仿真系統(tǒng)，用于對動態(tài)系統(tǒng)進展仿真和分析，預(yù)先模擬實際系統(tǒng)的特性和響應(yīng)，根據(jù)設(shè)計和使用要求，對系統(tǒng)進展修改和優(yōu)化。Simulink提供了圖形化用戶界面，只須點擊鼠標就可以輕易的完成模型的創(chuàng)立、調(diào)試和仿真工作，用戶不須專門掌握一種程序設(shè)計語言。Simulink可將系統(tǒng)分為從高級到低級的幾個層次，每層又可以細分為幾個部分，每層系統(tǒng)構(gòu)建完成后，將各層連接起來就可構(gòu)成一個完好的系統(tǒng)。模型創(chuàng)立完成后，可以

2、啟動系統(tǒng)的仿真功能分析系統(tǒng)的動態(tài)特性，其內(nèi)置的分析工具包括各種仿真算法、系統(tǒng)線性化、尋求平衡點等。仿真結(jié)果可以以圖形方式在示波器窗口顯示，也可將輸出結(jié)果以變量形式保存起來，并輸入到MATLAB中以完成進一步的分析。Simulink可以仿真線性和非線性系統(tǒng)，并能創(chuàng)立連續(xù)時間、離散時間或二者混合的系統(tǒng)。支持多采樣頻率系統(tǒng)。 Simulink：Version 6.0 R14 05-May-2004 Model analysis and construction functions. Simulation sim - Simulate a Simulink model. sldebug - Debug

3、 a Simulink model. simset - Define options to SIM Options structure. imget - Get SIM Options structure Linearization and trimming. linmod - Extract linear model from continuous-time system. linmo - Extract linear model, advanced method. dlinm - Extract linear model from discrete-time system. trim -

4、Find steady-state operating point. Model Construction.close_system - Close open model or block.new_system - Create new empty model window.open_system - Open existing model or block.load_system - Load existing model without making model visible.save_system - Save an open model.add_block - Add new blo

5、ck.add_line - Add new line. delete_block - Remove block. delete_line - Remove line. find_system - Search a model. hilite_system - Hilite objects within a model. replace_block - Replace existing blocks with a new block. set_param - Set parameter values for model or block. get_param - Get simulation p

6、arameter values from model. add_param - Add a user-defined string parameter to a model. delete_param - Delete a user-defined parameter from a model. bdclose - Close a Simulink window. bdroot - Root level model name. gcb - Get the name of the current block. gcbh - Get the handle of the current block.

7、 getfullname - get the full path name of a block slupdate - Update older 1.x models to 3.x. addterms - Add terminators to unconnected ports. boolean - Convert numeric array to boolean. slhelp - Simulink user's guide or block help. Masking. hasmask - Check for mask. hasmaskdlg - Check for mask di

8、alog. hasmaskicon - Check for mask icon. iconedit - Design block icons using ginput function. maskpopups - Return and change masked block's popup menu items. movemask - Restructure masked built-in blocks as masked subsystems. Library.libinfo - Get library information for a system. Diagnostics.sl

9、lastdiagnostic - Last diagnostic array.sllasterror - Last error array.sllastwarning - Last warning array.sldiagnostics - Get block count and compile stats for a model. Hardcopy and printing.frameedit - Edit print frames for annotated model printouts.print - Print graph or Simulink system; or save gr

10、aph to M-file.printopt - Printer defaults.orient - Set paper orientation. Simulink的三大步驟procedure of Simulink：1、模型創(chuàng)立與定義、 Model creating and definition2、模型的分析、Model analyzing3、模型的修正。Model modifying如以以下圖所示，重復(fù)執(zhí)行上述三大步驟可以實現(xiàn)系統(tǒng)的最優(yōu)化。Simulink的運行：Running of Simulink1、運行Simulink:命令窗口下點擊Simulink圖標或在命令窗口鍵入Simulin

11、k命令Simulink Library Browser閱讀器simulink樹狀列表形式的模塊庫包含simulink模塊庫中的各種模塊及其它Toolbox和 Blockset中的模塊2、選擇建模模塊：展開樹狀列表，用鼠標點擊所需類別的模塊項， 所選模塊類的詳細模塊庫就在右側(cè)的列表框中顯示出來，提供建模使用。也可以在輸入欄中鍵入模塊名并點擊Find按鈕進展查詢。3、翻開模型創(chuàng)立窗口：open the window of mode creating。在工具欄中選擇“建立新模型的圖標，彈知名為Untitled的空白窗口，選擇Open窗口可以翻開存于硬盤中已建的模型，完成模型的運行或修改。二 Simu

12、link 的常用根本模塊basic modulesimulink閱讀器窗口左側(cè)的simulink項上單擊鼠標右鍵，彈出菜單“Open the SimulinkLabrary選項，將翻開simulink模塊庫窗口。常用的模塊主要為：1信號源模塊：source,模塊及功能見表 812輸出模塊：Sinks, 模塊及功能見表 823. 連續(xù)系統(tǒng)模塊： Continuous, 模塊及功能見表 834. 離散系統(tǒng)模塊：Discrete, 模塊及功能見表 845. 數(shù)學(xué)運算模塊：Math, 模塊及功能見表 856函數(shù)和表模塊： Function & Tables, 模塊及功能見表 867. 非線性系

13、統(tǒng)模塊：Nonlinear, 模塊及功能見表 878. 信號與系統(tǒng)模塊：Signal & Systems, 模塊及功能見表 88還有：常用模塊： Commonly used blocks 非連續(xù)模塊： Discontinuous 邏輯運算和二進制數(shù)位模塊： Logical and bit operation 插值表： Lookup tables 形式識別Model： Verification 端口及子系統(tǒng)： Ports and subsystems 用戶自定義函數(shù)： User defined functions 輔助數(shù)學(xué)和離散系統(tǒng)： Additional math and discre

14、te 表 81信號源模塊及功能模 塊功 能模 塊功 能In1創(chuàng)立輸入端Ground接地Constant常數(shù)Clock當(dāng)前時間SignalGeneratur信號發(fā)生器Digital Clock數(shù)字時鐘Ramp斜波From File從文件讀數(shù)據(jù)SineWave正弦波FromWorkspace從工作空間讀數(shù)據(jù)Step階躍信號Random Number隨機信號Repeating Sequence重復(fù)系列UniformRandomNumber均勻隨機信號Pulse Generator脈沖發(fā)生器Band-LimitedWhileNoise帶限白噪音Chirp Signal 快速正弦掃描 表 82輸出模塊及

15、功能模塊功能模塊功能Scope示波器To file輸出到文件Floating Scope可選示波器To Workspace 輸出到工作空間XY GraphXY顯示器Terminator通用終端Out1創(chuàng)立輸出端Stop Simulation輸入不為0時停頓仿真Display實時數(shù)據(jù)顯示 表 83連續(xù)系統(tǒng)模塊及功能模塊功能模塊功能Integrator積分Zero-Pole 零極點Derivative微分Memory延時輸出Statae-Space狀態(tài)方程Transport Delay傳輸延時Transfer Fcn傳遞函數(shù)VariableTransport Delay可變傳輸延時 表 84離散系

16、統(tǒng)模塊及功能模塊功能模塊功能Zero-Order-Hold零階保持器Discrete Filter離散濾波器Unit Delay單位延時采樣保持Discrete Transfer Fcn離散傳遞函數(shù)Descrete-Time Integrator離散時間積分Discrete Zero-pole離散零極點Discrete-State-Space離散狀態(tài)方程First-Order Hold一階保持器 表 85數(shù)學(xué)運算模塊及功能模塊功能模塊功能Sum求和Rounding Function取整函數(shù)Product積或商Combinatorial Logic邏輯真值表Dot Product點積Logica

17、l Operator邏輯算子Gain常數(shù)增益Bitwise Logical Operator位邏輯算子Slider Gain可變增益Relational Operator關(guān)系算子Matrix Gain矩陣增益Complex to Magnitude-Angle復(fù)數(shù)的模和輔角Math Function數(shù)學(xué)運算函數(shù)Magnitude-Angle to Complex模和輔角合成復(fù)數(shù)Trigonometric Function三角函數(shù)Complex to Real-Imag復(fù)數(shù)的實部和虛部NinMax求最大值Real-Imag to Complex實部和虛部合成復(fù)數(shù)Abs求絕對值A(chǔ)lgebraic

18、Constant強迫輸入信號為零Sign符號函數(shù) 表 86函數(shù)和表模塊及功能模塊功能模塊功能Look-Up Table線性插值查表FcnC語言形式的表達式Look-Up Table 2-D二維線性插值MATLAB Fcn MATLAB形式的表達式Look-Up Table n-DN維線性插值S-Function調(diào)用S-函數(shù)Prelook-Up Index Search預(yù)查下標Polynomial多項式InterPolation n-D Using PreLook-UpN維插值S-Function Builder用C代碼創(chuàng)立S-函數(shù)Direct Look-Up Tablen-D直接查表 表 87

19、非線性系統(tǒng)模塊及功能模塊功能模塊功能Rate Limiter速率限制器Relay繼電器Saturation飽和元件Switch開關(guān)Quantizer量化元件Maunal Switch手動開關(guān)Backlash間隙元件Multiport Switch多項選擇開關(guān)Dead Zone死區(qū)元件Coulomb & Viscous Friction庫侖和粘性摩擦 表 88信號與系統(tǒng)模塊及功能模塊功能模塊功能Bus Creator創(chuàng)立信號總線Data Store Memory為存儲器定義內(nèi)存Bus Selector從信號總線中選擇信號Data Store Write向存儲器寫數(shù)據(jù)Mux多路傳輸器Fun

20、ction-Call Generator 函數(shù)調(diào)用發(fā)生器Demux多路別離器Reshape改變信號尺寸Selector選擇輸入信號Data Type Conversion數(shù)據(jù)類型轉(zhuǎn)換Assignment賦值Hit Crossing檢測零穿插點Matrix Concatenation矩陣串聯(lián)IC信號的初始值Merge信號合并Width信號的寬度From從GOTO模塊接收信號Model Info顯示模型信息Goto Tag Visibility定義GOTO模塊的范圍Signal Specification檢查信號參數(shù)Goto把信號送到From模塊Probe探測連線Data Store Read從存

21、儲器讀數(shù)據(jù)可選示波器Floating scope：可在示波器窗口的Floating scope快捷鍵將普通示波器轉(zhuǎn)變?yōu)镕loating scope，也可在模型庫中直接選擇Floating scope模塊。利用Floating scope模塊可選擇顯示一或多個線程上的信號，模塊不必與模型中的信號線連接，可以在signal selection 快捷鍵翻開的菜單中選擇要顯示的信號。*Floating scope： This option appears only on the General parameters pane for the Scope block. Selecting this op

22、tion turns a Scope block into a floating scope. A floating scope is a Scope block that can display the signals carried on one or more lines. You can create a Floating Scope block in a model either by copying a Scope block from the Simulink Sinks library into a model and selecting this option or, mor

23、e simply, by copying the Floating Scope block from the Sinks library into the model window. The Floating Scope block has the Floating scope parameter selected by default. To use a floating scope during a simulation, first open the scope. To display the signals carried on a line, select the line. Hol

24、d down the Shift key while clicking another line to select multiple lines. It might be necessary to click the Autoscale data button on the floating scope's toolbar to find the signal and adjust the axes to the signal values. Or you can use the floating scope's Signal Selector see The Signal

25、Selector in the online Simulink documentation to select signals for display. To display a floating scope's Signal Selector, first start simulation of your model with the floating scope open. Then right-click your mouse in the floating scope and select Signal Selection from the pop-up menu that a

26、ppears. You can have more than one floating scope in a model, but only one set of axes in one scope can be active at a given time. Active floating scopes show the active axes by making them blue. Selecting or deselecting lines affects the active floating scope only. Other floating scopes continue to

27、 display the signals that you selected when they were active. In other words, inactive floating scopes are locked, in that their signal displays cannot change. To specify display of a signal on one of the axes of a multiaxis floating scope, click the axis. Simulink draws a blue border around the axi

28、s. Then click the signal you want to display in the block diagram or the Signal Selector. When you run the model, the selected signal appears in the selected axis. If you plan to use a floating scope during a simulation, you should disable signal storage reuse. See "Signal storage reuse" i

29、n Optimizations for more information三. Simulink 建模Simulinc module creating1 模塊的創(chuàng)立與操作Creating and operation of Simulink1 創(chuàng)立模塊：module creating在閱讀器列表中點擊需要的模塊，按住鼠標左鍵并拖曳至模型窗口即可。雙擊模塊可在彈出的對話框中修改相應(yīng)的模塊參數(shù)在模塊下方名稱處雙擊可改變模塊名稱。2模塊操作module operationa模塊的選擇module selectionb挪動模塊 module movingc模塊的縮放modulee scalingd 復(fù)制模

30、塊：module copy 四種方法： 在選定模塊處，按下鼠標右鍵并拖動至適當(dāng)位置； 選定模塊，在工具欄中或Edit菜單中選中Copy與Paste按鈕； 在選定的模塊處點擊鼠標右鍵，在彈出的菜單中選擇Copy與Paste選項； 按住Ctrl鍵，按下鼠標左鍵，將選定的模塊拖至適當(dāng)?shù)奈恢谩模塊的旋轉(zhuǎn)與翻轉(zhuǎn)：Rotating and turnover of module旋轉(zhuǎn)：rotate將鼠標指向要翻轉(zhuǎn)的模塊并按下鼠標右鍵，選擇彈出菜單中的Format欄中的Rotate項，模塊順時針旋轉(zhuǎn)o。翻轉(zhuǎn)：將鼠標指向要翻轉(zhuǎn)的模塊并按下鼠標右鍵，選擇彈出菜單中的Format欄中的Flip Block項，模塊順

31、時針旋轉(zhuǎn)180o。 f 模塊的連接 h連接分支線 i改變連線的形狀 j連線的標識：在連線的上或下方或窗口內(nèi)任何位置雙擊鼠標左鍵，可出現(xiàn)一個文本框用于輸入說明文字。3簡單模型Simple mode 信號發(fā)生器發(fā)生幅值為，頻率為0.2HZ的正弦波信號，信號分別 按 倍 和倍送入兩個示波器。2 模型的修飾Mode modifying 1. 模塊加陰影：Format菜單中的Show drop shadow菜單項用于給模塊加陰影。2. 調(diào)整顏色：Format菜單中的Foreground color菜單項用于調(diào)整模塊的前景顏色。Background color菜單項用于選擇模塊的背景顏色。Screen c

32、olor菜單項用于調(diào)整屏幕顏色。3. 變換模塊名的顯示位置：Format 菜單中的Flip name可將模塊名換到對稱的位置，Hide name可將模塊名隱藏起來。 4. 模塊修飾的一個簡單例如三 模型中的子系統(tǒng) 把模型中的某些模塊組合在一起形成獨立的子系統(tǒng)，在主系統(tǒng) 中以子系統(tǒng)模塊參加，其作用相當(dāng)于MATLAB指令運行中的M函數(shù)文件。 建立子系統(tǒng)的好處： a, 減少主系統(tǒng)顯示在窗口中的模塊數(shù)目； b, 將功能相關(guān)的模塊組合在一起，實現(xiàn)進一步模塊化的要求； c, 構(gòu)成一個層次清楚的大系統(tǒng)。一子系統(tǒng)的建立1、在模型窗口中添加一個subsystem子塊,然后把該模塊包含的模塊添加 進去即可；2假設(shè)

33、組成一個子系統(tǒng)的模塊已經(jīng)添加進去，就將這些模塊歸入一個子系統(tǒng)中。1、在subsystem模塊建立子系統(tǒng)*在Simulink Library Browser中翻開 Simulingk庫，從其中的 Ports$Subsystems 庫中選取適宜的Subsystem拖至模型窗口中。*雙擊Subsystem模塊，翻開Subsystem窗口 ;*將要組合的模塊拖至 Subsysytem窗口中，然后在該窗口中參加Input模塊表示從子系統(tǒng)外部到內(nèi)部的輸入，參加 Output模塊表示從子系統(tǒng)內(nèi)部到外部的輸出，將這些模塊按順序連接起來，子系統(tǒng)便建立成功了。 例：2、組合已有的模塊建立子系統(tǒng)如欲將已有的模塊群變

34、成子系統(tǒng)，操作較簡單，步驟為：*用鼠標劃定方框同時選中待組合的模塊或按住shift鍵逐個選中；*選擇EditCreate -Subsystem菜單或單擊鼠標右鍵，在彈出菜單中選擇CreateSubsystem ，子系統(tǒng)就建成了。例：3、條件執(zhí)行子系統(tǒng)由某個外部的決定條件確定是否執(zhí)行的子系統(tǒng)，由輸入的控制信號來控制。常用的條件執(zhí)行子系統(tǒng)為： 1使能子系統(tǒng)Enable Subsystem 使能子系統(tǒng)在控制信號從負數(shù)朝正向穿過零時開場執(zhí)行，直到控制信號變?yōu)樨摂?shù)時停頓。 使能子系統(tǒng)在外觀上有一個“使能控制信號輸入口。當(dāng)且僅當(dāng)“使能信號輸入口信號為正時，該模塊開場承受In輸入口端的信號。 使能子系統(tǒng)包括

35、任何連續(xù)和離散的模塊。例：建立圖示的系統(tǒng)，并保存為test2, 運行觀察結(jié)果。2 觸發(fā)子系統(tǒng) Trigger Subsystem 觸發(fā)子系統(tǒng)是指當(dāng)觸發(fā)事件發(fā)生時開場執(zhí)行的子系統(tǒng)。在它的外觀上有一個“觸發(fā)控制信號輸入口，僅當(dāng)觸發(fā)輸入信號所定義的某個事件恰巧發(fā)生時，該模塊才開場承受In輸入端的信號。子系統(tǒng)一旦觸發(fā)，其輸出端口的值就保持不變，直到下次再觸發(fā)才可能改變?！坝|發(fā)事件由子系統(tǒng)內(nèi)觸發(fā)模塊對話框定義，有4種觸發(fā)事件可供選擇：*rising 上升沿觸發(fā)*falling 下降沿觸發(fā)*either 任意沿觸發(fā)*function-call 函數(shù)調(diào)用觸發(fā)注：一般的連續(xù)時間模塊不能置于觸發(fā)子系統(tǒng)中。例：利

36、用觸發(fā)子系統(tǒng)獲取零階保持的采樣信號實例 1構(gòu)造一個仿真模型，保存為test2 2 設(shè)置模塊參數(shù)：Pulse Generator: Amplitude 為1,Period 為 1,Pulse Width為50, Phase delay為0;Sine Wave: Amplitude為1,Frequency為1, Phase為0, Start time為0 3在MATLAB命令窗口中運行Simulink模型, 該模型被保存在MATLAB搜索途徑上，在命令窗口中運行如下命令：t,x,y=sim'jk',10; %調(diào)用模型test2,產(chǎn)生時間向量t、狀態(tài)矩clf, %陣x和輸出矩陣yho

37、ld onplott,y:,1,'b' stairst,y:,2,'r'stairst,y:,3,'g'hold offaxis0 10 -1.1 1.1,box onlegend'正弦波','輸出','三角形',4運行后即可輸出結(jié)果.Sim 命令能使用戶在 MATLAB命令窗口或M中運行由Simulink建立的模型。其格式為：t,x,y=simmodlelname,timespan,options,utt:返回仿真的時間向量x：仿真的狀態(tài)矩陣y：仿真的輸出矩陣modelname：被運行的模型名ti

38、mespan：時間帶寬options：一種特定的用于指定仿真參數(shù)的構(gòu)造數(shù)據(jù);ut:向頂層輸入端口模塊輸入的外部數(shù)據(jù)。l SIM: Simulate a Simulink model SimOut = SIM'MODEL', PARAMETERS simulates your Simulink model, where 'PARAMETERS' represents a list of parameter name-value pairs, a structure containing parameter settings, or a configuration

39、set. The SimOut returned by the SIM command is an object that contains all of the logged simulation results. Optional PARAMETERS can be used to override existing block diagram configuration parameters for the duration of the simulation. This syntax is referred to as the 'Single-Output Format'

40、;. SINGLE-OUTPUT FORMAT SimOut = SIM'MODEL','PARAMETER_NAME1',VALUE1,'PARAMETER_NAME2',VALUE2, . SimOut = SIM'MODEL', PARAM_NAME_VAL_STRUCT SimOut = SIM'MODEL', CONFIGSET All simulation outputs logged time, states, and signals are returned in asingle Simulink.

41、SimulationOutput object. Using the model's Configuration Parameters Data Import/Export dialog, you define the model time, states, andoutput to be logged. You can log signals using blocks such as the To Workspace and Scope blocks. The Signal & Scope Manager can directly log signals. Where:Sim

42、Out : Returned Simulink.SimulationOutput object containing all of the simulation output. 'MODEL' : Name of a block diagram model. 'PARAMETER_NAMEk': Name of the Configuration or Block Diagram parameter. VALUEk : Value of the corresponding Configuration or Block Diagram parameter. PAR

43、AM_NAME_VAL_STRUCT : This is a structure whose fields are the names of the block diagram or the configuration parameters that are being changed for the simulation. The corresponding values are the corresponding parameter values. CONFIGSET : The set of configuration parameters for a model. The single

44、-output format makes the SIM command compatible with PARFOR by eliminating any transparency issues. See "Running Parallel Simulations" in the Simulink documentation for further details. Example 1: simOut = sim'vdp','SimulationMode','rapid','AbsTol','1e-5

45、',. 'SaveState','on','StateSaveName','xoutNew',. 'SaveOutput','on','OutputSaveName','youtNew' simOutVars = simOut.who; yout = simOut.find'youtNew' Example 2: paramNameValStruct.SimulationMode = 'rapid' paramNameValSt

46、ruct.AbsTol = '1e-5' paramNameValStruct.SaveState = 'on' paramNameValStruct.StateSaveName = 'xoutNew' paramNameValStruct.SaveOutput = 'on' paramNameValStruct.OutputSaveName = 'youtNew' simOut = sim'vdp',paramNameValStruct; Example 3: mdl = 'vdp'

47、; load_systemmdl; simMode = get_parammdl, 'SimulationMode' set_parammdl, 'SimulationMode', 'rapid' cs = getActiveConfigSetmdl; mdl_cs = cs.copy; set_parammdl_cs,'AbsTol','1e-5',. 'SaveState','on','StateSaveName','xoutNew',. '

48、;SaveOutput','on','OutputSaveName','youtNew' simOut = simmdl, mdl_cs; set_parammdl, 'SimulationMode', simMode; DEFAULTS: 1. R = SIM'MODEL' returns the result R as either a Simulink.SimulationOutput object or a time vector that is compatible with a Simulink

49、 version prior to 7.4 R2020b. * To make SIM'MODEL' return in the single-output format, use the ReturnWorkspaceOutputs option: * SimOut = SIM'MODEL', 'ReturnWorkspaceOutputs', 'on' 2. To set the single-output format as the default format, select the 'Return as sing

50、le output' option on the Data Import/Export pane of the Configuration Parameters dialog box and save the model. BACKWARDS COMPATIBLE FORMAT: Simulink Version 7.3 AND PRIOR RELEASES - | T,X,Y = SIM'MODEL',TIMESPAN,OPTIONS,UT | T,X,Y1,.,Yn = SIM'MODEL',TIMESPAN,OPTIONS,UT | T,X,Y1,

51、.,Yn = SIM'MODEL',TIMESPAN,OPTIONS,UT | | The following syntax is now obsolete but will be maintained for backwards | compatibility. If only one right-hand side argument exists, then | Simulink automatically saves the time, the state, and the output to the | specified left-hand side argument

52、s. You can explicity switch to the | single-output format by changing the defaults as described above. | If you do not specify any left-hand side arguments, then Simulink | determines what data to log based on the Workspace I/O settings | of the Simulation Parameters dialog box. | DESCRIPTION OF BACKWARDS COMPATIBLE SIM ARGUMENTS: | T : Returned time vector. | X : Returned state in matrix or structure format. | The state matrix contains continuous states followed by discrete states. | Y : Returned output in matrix or structure format. |