Semplifica il processo di progettazione con nuovi strumenti grafici e testuali

8/14/2019 Semplifica il processo di progettazione con nuovi strumenti grafici e testuali

1/33

Matteo FoiniTechnical Marketing Engineer

National Instruments Italy

Semplifica il Processo di

Progettazione con NuoviStrumenti Grafici e Testuali


2/33

Graphical System Design

Interactive Design

Control design

Dynamic system simulation

Digital filter design

Advanced mathematics

Deployable Targets

Rugged deployment platforms

Distributed networking

Human machine interfaces

Custom Designs

Tight I/O Integration

I/O modules and drivers

COTS FPGA hardware

VHDL and C code integration

Design validation tools

DESIGN PROTOTYPE DEPLOY


3/33

Modeling and Design

Modeling and design produce controller and plant models

Kc

Controller

Kp

Plant

Error

Control

Output FeedbackSetpoint


4/33

Kc

Controller

Kp

Plant

Error

Control


Rapid Control Prototyping (RCP)

Creating a functional prototype of the controller


5/33

Kc

Controller

Kp

Plant

Error

Control


Targeting Production Controller

Download control algorithm to production embedded target


6/33

Hardware-in-the-Loop (HIL) Simulation

Kc

Controller

Error

Control


Testing production controller with simulated plant


7/33

System Testing

Kc

Controller

Kp

Plant

Error

Control



8/33

Modeling and design- Iterative process

- Models and design space are complex

- Prototypes not readily available at start of process

- Model tuning required based on empirical data

Rapid control prototyping and HIL

- Hardware platforms are typically high cost and inflexible

- Significant development required to move from offline

simulation to real-time implementation

Todays Challenges


9/33

LabVIEW Development Environment

Control Design & Simulation Module System ID Toolkit

LabVIEW Real-Time LabVIEW FPGA

cRIO, cFPPXI RIO/DAQ Devices

Targets

Statechart ModuleSimulation Interface

Toolkit

PID & Fuzzy Logic Toolkit

NI Motion Control

LabVIEW Embedded

32-bit p

NI Platform for Control


10/33

Option A. Existing Model

Option B. Mathematical Modeling

Option C. System Identification

Kc

Controller

Kp

Plant

ErrorMotor

Voltage

Actual

Speed

Speed

Setpoint

Step 1. Plant Modeling and Analysis


11/33

Note: Assume L

(inductance) and b(rotational friction)

are very small

dt

tdKtVtRi

)()()(

=1

)()(1

)( tR

KtV

Rti =2

2

2)(

)(

dt

tdJtT

= 3

)()(

tKidt

tdJ =

4

)()()(

2

tR

KtV

R

K

dt

tdJ

=5

)()()(2

sKsKVsJRs =Laplace transform:6

DC Motor Model


12/33

)()()(2

sKsKVsJRs =Laplace transform: 6

)()()(2

sKVsKsJRs =+ Reorganizing Terms 7

Input Voltage

Resultant Transfer

Function 2)(

)(

KJRs

K

sV

s

+=

Angular Speed8

DC Motor Model


13/33

Kc

Controller

Kp

Plant

ErrorMotor

Voltage

Actual

Speed

Speed

Setpoint

Step 1. Plant Modeling and Analysis

Option A. Existing Model

Option B. Mathematical Modeling

Option C. System Identification


14/33

Identify and validate linear models ofsystems from empir ical data

Seamless integration wi th NI I/O

Parametric model estimation (both SISOand MIMO)

Nonparametric model estimation

Recursive model estimation Data preprocessing

Model conversion, validation, andpresentation

Closed-loop system identification withfeedback detection

Partially known grey box systemidentification

LabVIEW System Identification Toolkit


15/33

Many Control Design Options

- Focus on Root Locus Method

- PID Synthesis

Kc

Controller

ErrorMotor

Voltage

Actual

Speed

Speed

Setpoint

2KJRs

K

+Plant

Step 2. Control Design


16/33


17/33

Simulate response to arbitrary inputs

(vs. step response, etc.)

Simulate controller with non-linear

and/or higher-order plant models

ErrorMotor

VoltageActualSpeed

SpeedSetpoint

2KJRs

K

+Plant

+s

TsK

i

c

1

Controller

Step 3. Simulation


18/33

Simulate dynamic systems including controllers and plants

Real-time implementation for rapid control prototyping or

hardware-in-the-loop simulation

LabVIEW Simulation Module


19/33

Linear systems continuous anddiscrete time

Nonlinear system blocks and lookuptables

Fixed-step, variable step, and stiff

solvers

Trimming and linearization

Integration with Formula node andMathScript node (through subVI)

Integration with 3D picture control forsystem visualization

LabVIEW Simulation Module Features


20/33

Prototype controller with real-time hardware

- Download control algorithm to RT PXI

- Connect to actual plant system (electric motor)

Electric

Motor

ErrorMotor

Voltage

Actual

Speed

Speed

Setpoint

PlantControllerRT PXI System/cRIO

+

s

TsK

i

c

1

Step 4. Control Prototyping


21/33

+

s

TsK

i

c

1

Production controller with real-world I/O

- Download control algorithm to production

embedded target

- Not connected to real-world plant

ErrorMotor

Voltage

PRODUCTION

EMBEDDED

CONTROLLER

Step 5. Targeting Production Controller


22/33

NI LabVIEW Microprocessor SDK

NI LabVIEW

Microprocessor SDK

Third party toolchain

Third party OS

Deploy on any 32-bit processor Use the same LabVIEW graphical

programming to deploy to customdevices

More than 400 built-in numerical

analysis and signal processinglibraries

Interactive front panel and blockdiagram debugging

C code generator for breadth oftoolchain and target support


23/33

Prototype plant with real-time hardware

- Download plant model to RT PXI

- Connect to production controller

ErrorMotor

Voltage

Actual

SpeedSpeed

Setpoint

Plant ModelController

2KJRs

K

+RT PXI System

Production

Controller

Step 6. Hardware-in-the-Loop


24/33

ErrorMotor

Voltage

Actual

SpeedSpeed

Setpoint

NI Core!!!

Step 7. Final Test and Verification


25/33

ConfigurableSimulation

Benefits of LabVIEW

Graphical System Design

Graphical Dataflow

Math ScriptStatechart


26/33

Statechart in LabVIEW

Macchine a stati complesse

Controllo basato sugli stati

Interfacce utente

Protocolli di comunicazione

Distribuire statechart su

Sistemi Desktop

Controller real-time

FPGA

Sistemi Embedded

Touch panel

LabVIEW Statechart Module

ni.com/statechart


27/33

1. Progettare stati e transizioni

2. Sviluppare azioni e codice di

controllo

3. Generare subVI con logica

statechart

4. Integrare i subVI nei

diagrammi di LabVIEW

Sviluppare con LabVIEW Statechart

ni.com/statechart


28/33

Little or No Learning Curve for The

MathWorks, Inc. Simulink Software Users

LabVIEW Simulation Module

The SimulinkSoftware Environment

Simulink is a registered trademark of The MathWorks, Inc. All othertrademarks are the property of their respective owners.


29/33

NI LabVIEW Simulation Interface Toolkit(SIT)

Use the LabVIEW SimulationInterface Toolkit to:

- Build powerful user interfaces for

models developed in the Simulink

environment- Interact with, view, and control

models from LabVIEW

- Deploy models to real-time hardware

with LabVIEW Real-Time*

.

Real-Time Workshop is a registered trademark of The MathWorks, Inc. Allother trademarks are the property of their respective owners.

*Requires The MathWorks, Inc. Real-Time Workshop


30/33

NI LabVIEW Simulation Interface Toolkit(SIT)LabVIEW Front Panel

Model Parameters and

Signals

LabVIEW Control s and

Indicators

SIT Connect ion Manager

Simulation Model


31/33

Siemens PowerHIL (Hardware-in-the-Loop) Simulation

ActualTurbine Controller

Steam TurbineSimulator

PXI RT System

MonitorHost and Server

I/O Signals


32/33

Discuss products and configure your application

Obtain estimated costs or a quote to take with you

Request a free consultation an NI engineer will

cometo your office to:

- Discuss your application and specialized topics

- Demonstrate customized applications, examples,

andproducts

Schedule an onsite seminar at your location

Visit the web site: www.ni.com/design


33/33

ARRIVEDERCI

EGRAZIE

Semplifica il processo di progettazione con nuovi strumenti grafici e testuali

Documents

Transcript of Semplifica il processo di progettazione con nuovi strumenti grafici e testuali