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Simulink Basics Tutorial
Starting Simulink
Model Files
Basic Elements
Running Simulations
Building Systems
Simulink is a graphical extension to MATLAB for modeling and simulation of
systems. In Simulink, systems are drawn on screen as block diagrams. Many
elements of block diagrams are available, such as transfer functions, summing
junctions, etc., as well as virtual input and output devices such as function
generators and oscilloscopes. Simulink is integrated with MATLAB and data can
be easily transfered between the programs. In these tutorials, we will apply
Simulink to the examples from the MATLAB tutorials to model the systems, build
controllers, and simulate the systems. Simulink is supported on Unix,
Macintosh, and Windows environments; and is included in the student version
of MATLAB for personal computers. For more information on Simulink, contact
the MathWorks.
The idea behind these tutorials is that you can view them in one
window while running Simulink in another window. System model files
can be downloaded from the tutorials and opened in Simulink. You will
modify and extend these system while learning to use Simulink for
system modeling, control, and simulation. Do not confuse the windows,
icons, and menus in the tutorials for your actual Simulink windows.
Most images in these tutorials are not live - they simply display what
you should see in your own Simulink windows. All Simulink operations
should be done in your Simulink windows.
Starting Simulink
Simulink is started from the MATLAB command prompt by entering the
following command:
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simulink
Alternatively, you can hit the New Simulink Model button at the top of the
MATLAB command window as shown below:
When it starts, Simulink brings up two windows. The first is the main Simulink
window, which appears as:
The second window is a blank, untitled, model window. This is the window into
which a new model can be drawn.
Model Files
In Simulink, a model is a collection of blocks which, in general, represents a
system. In addition, to drawing a model into a blank model window, previously
saved model files can be loaded either from the File menu or from the MATLAB
command prompt. As an example, download the following model file by clicking
on the following link and saving the file in the directory you are running
MATLAB from.
simple.mdl
Open this file in Simulink by entering the following command in the MATLAB
command window. (Alternatively, you can load this file using the Open option
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in the File menu in Simulink, or by hitting Ctrl+O in Simulink.)
simple
The following model window should appear.
A new model can be created by selecting New from the File menu in any
Simulink window (or by hitting Ctrl+N).
Basic Elements
There are two major classes of items in Simulink: blocks and lines. Blocks are
used to generate, modify, combine, output, and display signals. Lines are used
to transfer signals from one block to another.
Blocks
There are several general classes of blocks:
Sources: Used to generate various signals
Sinks: Used to output or display signals
Discrete: Linear, discrete-time system elements (transfer functions,
state-space models, etc.)
Linear: Linear, continuous-time system elements and connections
(summing junctions, gains, etc.)
Nonlinear: Nonlinear operators (arbitrary functions, saturation, delay,
etc.)
Connections: Multiplex, Demultiplex, System Macros, etc.
Blocks have zero to several input terminals and zero to several output
terminals. Unused input terminals are indicated by a small open triangle.
Unused output terminals are indicated by a small triangular point. The block
shown below has an unused input terminal on the left and an unused output
terminal on the right.
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Lines
Lines transmit signals in the direction indicated by the arrow. Lines must
always transmit signals from the output terminal of one block to the input
terminal of another block. On exception to this is a line can tap off of another
line, splitting the signal to each of two destination blocks, as shown below
(click the figure to download the model file called split.mdl).
Lines can never inject a signal into another line; lines must be combined
through the use of a block such as a summing junction.
A signal can be either a scalar signal or a vector signal. For Single-Input,
Single-Output systems, scalar signals are generally used. For Multi-Input,
Multi-Output systems, vector signals are often used, consisting of two or more
scalar signals. The lines used to transmit scalar and vector signals are
identical. The type of signal carried by a line is determined by the blocks on
either end of the line.
Simple Example
The simple model (from the model file section) consists of three blocks: Step,
Transfer Fcn, and Scope. The Step is a source block from which a step input
signal originates. This signal is transfered through the line in the direction
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indicated by the arrow to the Transfer Function linear block. The Transfer
Function modifies its input signal and outputs a new signal on a line to the
Scope. The Scope is a sink block used to display a signal much like an
oscilloscope.
There are many more types of blocks available in Simulink, some of which will
be discussed later. Right now, we will examine just the three we have used in
the simple model.
Modifying Blocks
A block can be modified by double-clicking on it. For example, if you
double-click on the "Transfer Fcn" block in the simple model, you will see the
following dialog box.
This dialog box contains fields for the numerator and the denominator of the
block's transfer function. By entering a vector containing the coefficients of the
desired numerator or denominator polynomial, the desired transfer function
can be entered. For example, to change the denominator to s^2+2s+1, enter
the following into the denominator field:
[1 2 1]
and hit the close button, the model window will change to the following,
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which reflects the change in the denominator of the transfer function.
The "step" block can also be double-clicked, bringing up the following dialog
box.
The default parameters in this dialog box generate a step function occurring at
time=1 sec, from an initial level of zero to a level of 1. (in other words, a unit
step at t=1). Each of these parameters can be changed. Close this dialog
before continuing.
The most complicated of these three blocks is the "Scope" block. Double
clicking on this brings up a blank oscilloscope screen.
When a simulation is performed, the signal which feeds into the scope will be
displayed in this window. Detailed operation of the scope will not be covered in
this tutorial. The only function we will use is the autoscale button, which
appears as a pair of binoculars in the upper portion of the window.
Running Simulations
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To run a simulation, we will work with the following model file:
simple2.mdl
Download and open this file in Simulink following the previous instructions for
this file. You should see the following model window.
Before running a simulation of this system, first open the scope window by
double-clicking on the scope block. Then, to start the simulation, either select
Start from the Simulation menu (as shown below) or hit Ctrl-T in the model
window.
The simulation should run very quickly and the scope window will appear as
shown below.
Note that the simulation output (shown in yellow) is at a very low level relative
to the axes of the scope. To fix this, hit the autoscale button (binoculars),
which will rescale the axes as shown below.
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Note that the step response does not begin until t=1. This can be changed by
double-clicking on the "step" block. Now, we will change the parameters of the
system and simulate the system again. Double-click on the "Transfer Fcn"
block in the model window and change the denominator to
[1 20 400]
Re-run the simulation (hit Ctrl-T) and you should see what appears as a flat
line in the scope window. Hit the autoscale button, and you should see the
following in the scope window.
Notice that the autoscale button only changes the vertical axis. Since the new
transfer function has a very fast response, it it compressed into a very narrow
part of the scope window. This is not really a problem with the scope, but with
the simulation itself. Simulink simulated the system for a full ten seconds even
though the system had reached steady state shortly after one second.
To correct this, you need to change the parameters of the simulation itself. In
the model window, select Parameters from the Simulation menu. You will
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see the following dialog box.
There are many simulation parameter options; we will only be concerned with
the start and stop times, which tell Simulink over what time period to perform
the simulation. Change Start time from 0.0 to 0.8 (since the step doesn't
occur until t=1.0. Change Stop time from 10.0 to 2.0, which should be only
shortly after the system settles. Close the dialog box and rerun the simulation.
After hitting the autoscale button, the scope window should provide a much
better display of the step response as shown below.
Building Systems
In this section, you will learn how to build systems in Simulink using the
building blocks in Simulink's Block Libraries. You will build the following
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system.
If you would like to download the completed model, here.
First you will gather all the necessary blocks from the block libraries. Then you
will modify the blocks so they correspond to the blocks in the desired model.
Finally, you will connect the blocks with lines to form the complete system.
After this, you will simulate the complete system to verify that it works.
Gathering Blocks
Follow the steps below to collect the necessary blocks:
Create a new model (New from the File menu or Ctrl-N). You will get a
blank model window.
Double-click on the Sources icon in the main Simulink window.
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This opens the Sources window which contains the Sources Block Library.
Sources are used to generate signals. Click here for more information on
block libraries.
Drag the Step block from the sources window into the left side of your
model window.
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Double-click on the Linear icon in the main Simulink window to open the
Linear Block Library window.
Drag the Sum, Gain, and two instances of the Transfer Fcn (drag it two
times) into your model window arranged approximately as shown below.
The exact alignment is not important since it can be changed later. Just
try to get the correct relative positions. Notice that the second Transfer
Function block has a 1 after its name. Since no two blocks may have the
same name, Simulink automatically appends numbers following the names
of blocks to differentiate between them.
Double-click on the Sinks icon in the main Simulink window to open the
Sinks window.
Drag the Scope block into the right side of your model window.
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Modify Blocks
Follow these steps to properly modify the blocks in your model.
Double-click your Sum block. Since you will want the second input to be
subtracted, enter +- into the list of signs field. Close the dialog box.
Double-click your Gain block. Change the gain to 2.5 and close the dialog
box.
Double-click the leftmost Transfer Function block. Change the numerator
to [1 2] and the denominator to [1 0]. Close the dialog box.
Double-click the rightmost Transfer Function block. Leave the numerator
[1], but change the denominator to [1 2 4]. Close the dialog box. Your
model should appear as:
Change the name of the first Transfer Function block by clicking on the
words "Transfer Fcn". A box and an editing cursor will appear on the
block's name as shown below. Use the keyboard (the mouse is also useful)
to delete the existing name and type in the new name, "PI Controller".
Click anywhere outside the name box to finish editing.
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Similarly, change the name of the second Transfer Function block from
"Transfer Fcn1" to "Plant". Now, all the blocks are entered properly. Your
model should appear as:
Connecting Blocks with Lines
Now that the blocks are properly laid out, you will now connect them together.
Follow these steps.
Drag the mouse from the output terminal of the Step block to the upper
(positive) input of the Sum block. Let go of the mouse button only when
the mouse is right on the input terminal. Do not worry about the path you
follow while dragging, the line will route itself. You should see the
following.
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The
resulting line should have a filled arrowhead. If the arrowhead is open, as
shown below, it means it is not connected to anything.
You can
continue the partial line you just drew by treating the open arrowhead as
an output terminal and drawing just as before. Alternatively, if you want
to redraw the line, or if the line connected to the wrong terminal, you
should delete the line and redraw it. To delete a line (or any other object),
simply click on it to select it, and hit the delete key.
Draw a line connecting the Sum block output to the Gain input. Also draw
a line from the Gain to the PI Controller, a line from the PI Controller to
the Plant, and a line from the Plant to the Scope. You should now have the
following.
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The line remaining to be drawn is the feedback signal connecting the
output of the Plant to the negative input of the Sum block. This line is
different in two ways. First, since this line loops around and does not
simply follow the shortest (right-angled) route so it needs to be drawn in
several stages. Second, there is no output terminal to start from, so the
line has to tap off of an existing line.
To tap off the output line, hold the Ctrl key while dragging the mouse
from the point on the existing line where you want to tap off. In this case,
start just to the right of the Plant. Drag until you get to the lower left
corner of the desired feedback signal line as shown below.
Now, the
open arrowhead of this partial line can be treated as an output terminal.
Draw a line from it to the negative terminal of the Sum block in the usual
manner.
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Now, you will align the blocks with each other for a neater appearance.
Once connected, the actual positions of the blocks does not matter, but it
is easier to read if they are aligned. To move each block, drag it with the
mouse. The lines will stay connected and re-route themselves. The middles
and corners of lines can also be dragged to different locations. Starting at
the left, drag each block so that the lines connecting them are purely
horizontal. Also, adjust the spacing between blocks to leave room for
signal labels. You should have something like:
Finally, you will place labels in your model to identify the signals. To place
a label anywhere in your model, double click at the point you want the
label to be. Start by double clicking above the line leading from the Step
block. You will get a blank text box with an editing cursor as shown below
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Type an r
in this box, labeling the reference signal and click outside it to end
editing.
Label the error (e) signal, the control (u) signal, and the output (y) signal
in the same manner. Your final model should appear as:
To save your model, select Save As in the File menu and type in any
desired model name. The completed model can be found here.
Simulation
Now that the model is complete, you can simulate the model. Select Start from
the Simulation menu to run the simulation. Double-click on the Scope block
to view its output. Hit the autoscale button (binoculars) and you should see the
following.
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Taking Variables from M ATLAB
In some cases, parameters, such as gain, may be calculated in MATLAB to be
used in a Simulink model. If this is the case, it is not necessary to enter the
result of the MATLAB calculation directly into Simulink. For example, suppose
we calculated the gain in MATLAB in the variable K. Emulate this by entering
the following command at the MATLAB command prompt.
K=2.5
This variable can now be used in the Simulink Gain block. In your simulink
model, double-click on the Gain block and enter the following in the Gain field.
Close this dialog box. Notice now that the Gain block in the Simulink model
shows the variable K rather than a number.
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Now, you can re-run the simulation and view the output on the Scope. The
result should be the same as before.
Now, if any calculations are done in MATLAB to change any of the variab used
in the Simulink model, the simulation will use the new values the next time it is
run. To try this, in MATLAB, change the gain, K, by entering the following at
the command prompt.
K=5
Start the Simulink simulation again, bring up the Scope window, and hit the
autoscale button. You will see the following output which reflects the new,
higher gain.
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Besides variab, signals, and even entire systems can be exchanged between
MATLAB and Simulink. For more information, click here.
Tutorials
MATLAB Basics | MATLAB Modeling | PID | Root Locus | Frequency
Response | State Space | Digital Control | Simulink Basics | Simulink
Modeling | Examples
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