ADEX Toolkit for Simulink
Contents
1. a A S a Adaptive Predictive Expert Control ADEX Controller Toolbox for Simulink User Manual Edition April 2008 UM TK SM 01 EN ADEX Controller Toolbox for Simulink Contents ADOUR IV eel le icscestes aceon ctentes A E A a O a 3 oreanizati on OF EMIS MS ud eee a O 3 CONVEN EO ASE SEE E a eRe a 3 Related DOCUMENTATION onanerer A EE EE 3 About ADEX Controller Toolbox for Simulink ccc ceeecccesssececesececeesceceeseceeeeeeeeseeecesseeeeeeees 4 Package CONtEN E siete cs Belcher salar cae dere de nici deena Ea ss maleic datas enlace aoa nce neces 4 System REG UIGGIMEINUS aar enn soen onanere anis ellers ele anno eceeeaseen 4 Installing ADEX Controller TOO Ib OX ae arrene asernes 4 ADEX Controller Toolbox Applications enserir aaa EAE E 6 Part Integration of ADEX Controllers within SIMULINK essssessssessssesseresssersserreseersseesssereeseersseessseee 7 MOdUCU ON E EANA E ON ENNA 7 ADEX Controller Toolbox Basic Features sessesssresreesesreessrresseresrerssreossseresseeesreresreessreess 7 ADEX BIOCK S cucs a eee En aataaan cnnau eee 9 ADEX CONO reroror mea caes ta stedevnehceta tach uxeat abbeae on en tee ae Me EG SDN pl 9 ADEX RE a GC Mr sees tenascctanent a Se tcca tates neta taeea a T AA eee 12 ADEA WIG rssh sse cs vata ss cect ce che ca calcd areca sees cna ed aaa es 14 ADEX Parameter BOWS CM sicetsssacsiohiiaicarsutwes a saws veonscean si E N 15 Part Il Control Problem Simulated using2. 0 145412 10 0201886 fo Io I Ill FIGURE 18 ADAPTIVE MECHANISM The multiplexer blocks act as microphones or sensors to capture the signals and present them graphically in an oscilloscope screen Based on the considerations above regarding the time delays the next step is to carry out successive simulations so that the ADEX controller builds up a model from process knowledge at the same time as manipulating the values of the remaining parameters using the available methods by means of ADEX Reader and Writer or ADEX COP 2 Configurator After adjusting the parameters we can achieve these results SP i PY pl FIGURE 19 EXAMPLE RESULTS As can be seen from the graphs in Figure 32 it is not possible to completely eliminate the noise but the system was effective in reducing the effect by 150 times In Figure 20 there are represented in the upper graphic the control action and its effect in the output of this process and the lower graphic represents 21 UM TK SM 01 EN User Manual ADEX Controller Toolbox for Simulink the disturbance and its impact on PV Through this comparison can be seen how the signal OUT tries to counteract the effect of noise OUT W Fout p 0 03 0 04 PERT y PY pert pl 0 05 FIGURE 20 EXAMPLE RESULTS This problem demonstrates the versatility of control schemes and additional options that can be achieved by means of using ADEX Controller Toolbox This all
3. 21 nov 2007 12 Folder 21 nov 2007 12 MEx file 16 nov 2007 12 MExX file 12 may 2007 22 MEx file 12 abr 2007 16 P file 16 nov 2007 11 Open as Text Open Outside MATLAB Import Data New gt Rename Delete Source Control gt Cut Ctrl x Copy Ctrl C Paste Ctrl V File Filter gt Add to Path gt Refresh Current Dir FIGURE 1 EXECUTING THE INSTALLER 4 Once the Toolbox has been installed the installation package permits the installation of the ADEX COP 2 Configurator see Figure 2 ADEX Controller Toolbox Setup i E x You must have installed ADES COP 2 Configurator for using ADE Controller Toolbox do you want bo install it now Yes Mo Cancel FIGURE 2 WINDOW FOR INSTALLING THE CONFIGURATOR 5 If the Yes button is accepted the installation of the ADEX COP 2 platform Configurator will begin On completion the drivers for the hardware security key will be launched These are a requirement for running ADEX simulations strategies and controllers Finally the system will prompt the user if it is also required to install LabVIEW Run Time 7 1 This step can be bypassed of there is already a version of LabVIEW 7 1 on the computer To uninstall the ADEX Controller Toolbox the procedure is very similar to the steps listed above 1 Start a new session of MATLAB and establish the location of the area where the files of the package are installed as the Current Direct
4. the ADEX Controller Toolbox cccccecccesecceeseeeeeeeeeeees 18 Control Problem EF tOna a EO 18 Graphics and Simulation in the Simulink ENVirOnNnMeNt c ccecccssseceeceseeeeeeeceeeeeeeeeees 19 User Manual 2 UM TK SM 01 EN ADEX Controller Toolbox for Simulink About this Manual This manual describes the ADEX Controller Toolbox for Simulink of The Mathworks The Toolbox includes all the necessary tools for configuring and implementing ADEX controllers within Simulink Organization of this Manual The manual is divided into two main sections Part Integration of ADEX Controllers into Simulink this chapter describes the ADEX blocks that are part of the Toolbox Part Il Developing an Example in Simulink this section describes an example of a communication channel on which you want to remove noise by means of the definition of strategy based on the ADEX controllers Conventions ru This icon denotes a note which notifies you of important information A This icon denotes a warning which warns you about information that should not be overlooked for the proper working of the system Related Documentation The following documents contain information that you might find helpful as you read this manual ADEX Methodology ADEX Configurator User Manual 3 UM TK SM 01 EN ADEX Controller Toolbox for Simulink About ADEX Controller Toolbox for Simulink This section will list the contents of the A
5. DEX Controller Toolbox for Simulink it describes the installation steps and the applications of the ADEX Controller Toolbox Package Contents ADEX Controller Toolbox for Simulink contains the following ADEX Controller Toolbox for Simulink CD User manual of the ADEX Controller Toolbox for Simulink Hardware Key USB that provides the necessary licenses to use ADEX systems System Requirements To install the ADEX Controller Toolbox for Simulink the following are required as a minimum Windows 2000 XP Vista MATLAB 7 0 or later Simulink 6 0 or later Installing ADEX Controller Toolbox Complete the following steps to install the ADEX Controller Toolbox for Simulink 1 Insert ADEX Controller Toolbox Installation CD 2 Start a new session of MATLAB and establish the location of the area where the files of the package are installed as the Current Directory 3 Execute the archive file setup either by clicking on the right hand button over the file within the Current Directory and pressing Run as shown in Figure 1 or writing setup in the command window of MATLAB After a few seconds if the installation has proceeded satisfactorily an information window will appear otherwise an error message will be given User Manual 4 UM TK SM 01 EN ADEX Controller Toolbox for Simulink Current Directory C Documents and Settings rr 7 X File Type Last Modified Folder 21 nov 2007 12 Folder
6. GURE 10 ADEX READER RDIN This is the input to the module This will be a vector of N elements N being the number of parameters which have a value required to be known index_1 index_N In a similar way to the controller these indices can be input in a variety of ways i Writing them manually in the Constant block as follows index_1 index_2 index_N ii By means of lines coming from other blocks of Simulink which have double precision for example not Boolean iii By means of a variable defined by hand in the Workspace following the same rules An instance of the module From Workspace is required iv Another option is via a Simulink Parameter variable with the vector defined in the field Value It is also necessary in this case to include the block From Workspace from the Sources library in Simulink User Manual 12 UM TK SM 01 EN User Manual ADEX Controller Toolbox for Simulink RDOUT This pin is the output from the module It expresses the results of reading the parameter values specified in the input Consequently it is another vector with the same dimensions as the block input for this case it will be N value 1 me value N The values of the output are numeric type elements of double precision so that it can be connected to any other block which allows this type of inputs including the modules Scope Display mathematical operations etc Alternatively connect them directly to
7. Once the installation has been completed the Toolbox will available in the Simulink Library Browser as can be seen in Figure 4 7 Simulink Library Browser a Ioj x File Edit wiew Help D a d ADEX Controller Models an ADES controller Click Help button for more information El E Controller Tocibo Ee Aerospace Blockset I W COMA Reference Blockset I W Communications Blockset mer Control System Toolbox E W Dials amp Gauges Blockset ADEs Writer FIGURE 4 ADEX IN THE SIMULINK LIBRARY BROWSER 7 UM TK SM 01 EN User Manual ADEX Controller Toolbox for Simulink The ADEX Controller Toolbox comprises three elements which will be described in detail in the following sections ADEX Controller block ADEX Reader block ADEX Writer block The most basic scheme which can be implemented in Simulink deals only with the first three blocks The Reader and Writer blocks are optional although they will always appear as options together with the group of blocks as listed above Improvements in the system can be achieved with these since their function is to manipulate controller configuration parameters For example they are useful for treating exceptions or limitations in the process for those parameters in which it is desired to make changes before specific events occur To run a process under ADEX control the system requires the following directories Director
8. UT delayed by duration of the sampling period ST Figure 17 shows the proposed diagram 19 UM TK SM 01 EN ADEX Controller Toolbox for Simulink MODE ADEX RE Controller EA ADES Controller Toolbox Demo Apr 2008 FIGURE 17 SCHEME Taking into consideration the response times of the primary and secondary systems and the frequency of the perturbation the following values have been selected Sampling period for the controller ST equal to 80 us Delay in the Primary channel Dp of 160 us more than 54mm Delay in the secondary channel Ds of 80 us whose distance is equivalent to 27mm Once the controller is created it needs to be able to read the delays This can be carried out using the ADEX Writer Block or using the program ADEX COP Configurator modifying the values DP OUT and PERT respectively see Figure 18 These DP s are written based on CP and ST In this particular case the Control Period CP was configured to be the same as the sampling time ST and as a result the DP of OUT is 1 the DP of PERT is 3 2 for the basic delay 1 for conversion to digital which is considered internally by OUT With the Configurator the delay times are changed Figure 18 User Manual 20 UM TK SM 01 EN User Manual ADEX Controller Toolbox for Simulink NE demo ADAPTIVE MECHANISM smn nimni om 1 1 04508 1 0 241751 jo E hh fa Po os1s159 0111535 Jo lo E E i I Hi 10 153479 0 0195741 Jo fe
9. e of the third block of the Toolbox dedicated to adaptive predictive expert control is to modify the configuration parameters of the ADEX controller These changes as distinct from the controller module are carried out during the cycles of the simulation ADEM Write r ADEX Writer FIGURE 12 ADEX WRITER The ADEX Writer element has only one input which is described as follows see Figure 12 WR The index value pairs of the parameters to be changed appear in this terminal Here the input is the same as that for the initial controller parameters and is therefore also a 2 x N matrix with N being the number of parameters to be modified index 1 index_N_ value 1 PA value_N This date can be input in various ways i Writing them manually in the Constant block as follows index_1 index_2 index N value_1 value 2 value N ii By means of lines coming from other blocks of Simulink which have double precision for example not Boolean iii By means of a variable defined by hand in the Workspace following the same rules An instance of the module From Workspace is required iv Another option is via a Simulink Parameter variable with the vector defined in the field Value It is also necessary in this case to include the block From Workspace from the Sources library in Simulink User Manual 14 UM TK SM 01 EN ADEX Controller Toolbox for Simulink T Block Parameters ADEX Writer E 3
10. ed by means of the ADEX parameters browser Figure 14 This is referred to in plural since although a particular parameter is being searched this could have several identifiers and names according to the domain it belongs to and the PV which it affects 15 UM TK SM 01 EN User Manual ADEX Controller Toolbox for Simulink Moreover in most cases the key to be input coincides with the initials of the parameter in English for example the Sampling Time is ST It is possible to access the parameter search engine from the Help section of the Read and Write Parameter modules The browser opens in a predetermined navigator window in the user s system that is in Internet Explorer Mozilla Firefox or similar and has the following appearance ADEX Controller Toolbox ADEX Parameters With this application you can search the index of an ADEX parameter writing its key which appears on the ADEX COP 2 Configurator it often coincides with the initial letters of the parameter name in English For example if you want to know the index value for Control Period you must type in the textbox CP and then click Search button Also itis possible to reverse this action if you enter an index the searcher will return the information of its parameter Controller Structure All Parameter name or Index Enter key here Search Reset Adaptive Predictive Expert Control ADEX S L ADEX Website FIGURE 14 ADEX PARAMETER BROWSER To s
11. ere are those required when the controller execution starts It is possible to modify those before and after the simulations as well as modify the name The parameters are introduced my means of a 2 x N matrix corresponding to the index and value pairs where N is the number of the parameter to be initialized This data can be entered in various ways i Writing them manually in the MATLAB format index 1 index_2 index N value 1 value 2 value N ii By means of a variable defined by hand in the Workspace following the same rules In this box the name of the variable must be written iii The last option is using a variable called Simulink Parameter with the matrix defined in the field Value In this case the name of this Simulink Parameter type element can be written in the Workspace of MATLAB Sample Time This value must be that which corresponds to the parameter ST of the controller expressed in seconds Since this is a module of Simulink it is possible also to input 1 to inherit it from the rest of the model 11 UM TK SM 01 EN ADEX Controller Toolbox for Simulink TCP Port It s dedicated to communicate with the ADEX COP 2 Configurator ADEX Reader The ADEX Reader Block performs the function of reading the values of the parameters specified in the input terminal via its respective indices This block has the structure shown below Figure 10 RDIH RBOUT p ADEX Reader ADEX Reader FI
12. ers although there are many references to the concepts but rather to familiarize the user with the toolbox You can access this demonstration through the ADEX Controller Toolbox section in a MATLAB Help Control Problem Description User Manual The problem is centered on a communication channel where there is a need to minimize an acoustic noise The noise is measured using a microphone or transducer which will allow it to be treated as a measurable perturbation Since the objective of the exercise is to suppress this signal the process variable needs to be zero as does the set point Noise emission 1 x Microphone transducer x n Noise suppressor PERT 5 o er i Interference between noise emission and noise supressor aimed at making combined result zero volume Control action aimed at changing supressor amplitude to match emission and so eliminate FIGURE 16 SCHEME OF THE SYSTEM 18 UM TK SM 01 EN ADEX Controller Toolbox for Simulink The role of the controller therefore is to generate a control action aimed at keeping the noise as close to zero as possible Figure 16 shows the overall scheme The set point of the system is zero there is a PERT signal which corresponds to the known noise and an OUT calculated to eliminate the perturbation The variable PV will be the sum of both effects one caused by the noise and the other caused by the control action As can be seen from the diagram above the emi
13. implify searches the type of controller to be used can be specified since the names and indices do not always coincide in the various structures The types of controller are as follows 1x1 These are controllers with only one PV and no perturbations 6x1 These also have only one PV but up to 5 perturbations 9x3 This is typical of the remainder In this case there are 3 PV s and up to 6 perturbations PERTs For example if we want to know the name of the parameter associated with the Prediction Horizon in a 6x1 driver we should write PH in the textbox and select the appropriate structure resulting in the following 6x1 ADEXCOP 2 Configurator key Index Parameter name Process Var Domain Description PH 26 Pvg1 Ap1 In PV1 AP L Prediction horizon PH 61 Pvg1 Ap2 In PV1 AP C Prediction horizon PH 96 Pvg1 Ap3 In PV1 AP U Prediction horizon FIGURE 15 SEARCH RESULTS 16 UM TK SM 01 EN ADEX Controller Toolbox for Simulink Another feature of the browser is that the inverse also works if the index is input to the text box the corresponding parameter will be found User Manual 17 UM TK SM 01 EN Part Il ADEX Controller Toolbox for Simulink Control Problem Simulated using the ADEX Controller Toolbox The purpose of this section is to illustrate how the Toolbox in Simulink can be implemented using a practical example The objective is not to be a guide for configuring adaptive predictive expert controll
14. ntrol action applied to the process The values sent by the controller and the actual input do not necessarily have to be the same for various limitations or for other reasons MODE The modes of operation of the controller RC Rate of Change This is the maximum rate of change of the PV when it is approaching the set point CP Control Period This is the time interval between control actions The output is as follows OUT Control action which must be applied to the process Double clicking on the diagram of the scheme the mask of the block will appear Figure 9 This represents the interface between the controller and the default values In this way the values characterizing the block are entered Controller Name This is the name used to create the controller and it will manipulate an archive CLR which stores the controller status in memory In addition it will identify the block for the other two modules as well as for ADEX COP 2 Configurator Using MATLAB it will be defined between single commas lt See Figure 9 10 UM TK SM 01 EN User Manual ADEX Controller Toolbox for Simulink T Block Parameters ADEX Controller E a x ADE Controller mask link Model an ADEM controller Click Help button for more information Parameters Controller Name clr Initial Parameters 1 0 Sample Time I TCP Port 3020 FIGURE 9 CONTROLLER MASK Initial Parameters The values input h
15. ory User Manual 5 UM TK SM 01 EN ADEX Controller Toolbox for Simulink 2 Execute the archive uninstall either by clicking on the right hand button over the file within the Current Directory and pressing Run as shown in Figure 1 or writing uninstall in the command window of MATLAB It should be noted that in this case neither the equipment Configurator USB security drivers nor LabVIEW Run Time 7 1 should be deleted This process should be carried out from the computer Windows Control Panel using the option Add Remove programs Figure 3 ER Add Remove Programs for Currently installed programs Change or man ADEX COP 2 Configurator Use Frequently To change this program or remove it From your Change Remove computer click Change Remove Change Remove Remove Programs a asi am ADEX Toolkit For LabVIEW 8 Size 11 1MB Add New Programs iz Adobe Flash Player 9 Activex ef Adobe Flash Player Activex Adobe Reader 8 1 2 Espa ol Size 100MB A sem m sian rm am oam z Add Remove FIGURE 3 ADD REMOVE PROGRAMS After completing the installation be sure to connect the Hardware key that contains licenses for the implementation of ADEX Systems before using the ADEX Controller Toolbox for Simulink ADEX Controller Toolbox Applications User Manual The purpose the Toolbox is to provide a means of simulating ADEX Systems in a familiar known environment This is the reason why the Adaptive Predictive Expert me
16. ows the user to integrate in Simulink automatic control strategies designed for a specific process control 22 UM TK SM 01 EN
17. ssion of the OUT signal noise suppressor as far away from the noise emission as possible where the PV can be read to make it easier to anticipate the perturbation and obtain better results The distances between send and receive devices are modeled including the delays Dp and Ds such that the perturbation delay is greater than the control action delay Given that the system is acoustic and the transmission medium is therefore air the distance can be calculated according to the following equation Distance Delay x Speed of sound propagation Finally to complete this system in Simulink the systems P s noise and S s suppression referred to as Primary and Secondary respectively are used to model the cause and effect relationship between the sending of the OUT signals and the PERT up to the microphone at PV Graphics and Simulation in the Simulink Environment User Manual To generate the model in Simulink representing the noise is achieved using a sinusoid of unitary amplitude and frequency of 300 Hz for reasons of simplicity The P amp S systems are represented using second order models with similar response times Both relations differ physically only in the system emitter and in the influence on the dynamic resulting from the difference in the distance of both the models apart from the temporary displacement specified here through Ds and Dp In this case it is assumed that Actual Input Al is directly the same as the O
18. the parameter writer which will be shown in the next section The next step is to explain the type of parameters and how they can be configured using the mask shown in Figure 11 T Block Parameters ADEX Reader i x FT ET ADE Reader mask link Models an ADES parameters reader Click Help button for more information Parameters Controller Name ctl Sample Time 1 FIGURE 11 ADEX READER MASK Controller Name The ADEX Reader needs to know the controller whose parameters need to be read The user must ensure that this controller exists otherwise an error will be returned and the error code will be displayed in the Command Window of MATLAB In the same way as for the ADEX Controller the name must be enclosed in single commas Sample Time This value indicates the period of time in seconds which passes between two readings It does not have to be the same as that of the controller action as the timing of each parameter does not have the same significance For example if a process has a short response time it is necessary to input an ST value to the controller which is of a similar magnitude so that the cause and effect mechanism works correctly However the user is at liberty to read parameters as frequently as is deemed necessary Finally with regard to inheritance the value 1 can be input to this field 13 UM TK SM 01 EN ADEX Controller Toolbox for Simulink ADEX Writer The objectiv
19. thodology has been integrated into Simulink so that it can be used both for carrying out experiments testing and creating industrial applications The ADEX Controller Toolbox for Simulink contains the necessary tools for developing control applications based on the ADEX methodology in this programming environment allowing the inclusion of ADEX controllers in your schemes to generate systems from simple simulation models to industrial processes of great complexity 6 UM TK SM 01 EN Part ADEX Controller Toolbox for Simulink Integration of ADEX Controllers within Simulink Introduction ADEX Controller Toolbox enables ADEX controllers to be added to Simulink schemes for the design of control systems based on the ADEX methodology This kit is integrated into Simulink as an extra library within the user menu so it is therefore convenient that the user obtains basic knowledge of this program prior to using the Toolbox For more information on this environment please visit the web site of The Mathworks at http www mathworks com In the following sections a full description is given of the Toolbox starting from how to install it to outlining features including the blocks which make it up The Help module of the Toolbox which is installed with Simulink includes a program allowing the user to access the ADEX parameters necessary for the configuration of the controller ADEX Controller Toolbox Basic Features User Manual
20. x ADEs Writer mask link Models an ADES parameters writer Click Help button for more information Parameters Controller Hame EE Sample Time 1 FIGURE 13 ADEX WRITER MASK The mask which has the ADEX writer module will be described now Figure 13 Controller Name The ADEX Writer needs to know the controller whose parameters need to be write The user must ensure that this controller exists otherwise an error will be returned and the error code will be displayed in the Command Window of MATLAB The name must be enclosed in single commas Sample Time This value indicates the period of time in seconds which passes between two writings It does not have to be the Same as that of the controller action as the timing of each parameter does not have the same significance For example if a process has a short response time it is necessary to input an ST value to the controller which is of a similar magnitude so that the cause and effect mechanism works correctly However the user is at liberty to read parameters as frequently as is deemed necessary Finally with regard to inheritance the value 1 can be input to this field ADEX Parameter Browser User Manual Having explained the functioning of the ADEX blocks it is necessary to know the index of a parameter so that it can be read correctly Using the name of the parameter in ADEX COP 2 Configurator the indices and full names can be obtain
21. y situated in different folders without closing MATLAB it is necessary to delete the references which the Toolbox created with the first scheme and for this a confirmation will be prompted as shown in Figure 7 ADEX Controller Toolbox Question x The ADEX COP 2 Compact version used on ADES Controller Toolbox can not simulate models From different directories at the same MATLAB session without completely delinked From the last MDL Do you wish to continue only with this simulation FIGURE 7 CONFIRMATION OF CHANGE IN SIMULATION If the response is Yes the system will break the existing links with the previous model and proceed with the new one f the response is No the system will abort the execution change and it will be possible to return to running the previous scheme ADEX Blocks ADEX Controller As implied by the name this module lies at the centre of ADEX systems since it is the actual controller The module can be seen in Figure 8 below User Manual 9 UM TK SM 01 EN User Manual ADEX Controller Toolbox for Simulink PERT MODE ADEX Controller ADES Controller FIGURE 8 ADEX CONTROLLER With respect to the input terminals SP Set Point Value of the set point of the PV PV Process Variable Process Output to the controller PERT Perturbation Input available for the introduction of perturbations which affect the PV Al Actual Input The actual value of the latest co
22. y Ctirs In this controller files relevant to the MDL models are stored inside the Current Directory In each cycle if there does not exist a controller with the desired name one will be created in this directory and each time it is referenced it will be found here In addition this directory will have a default controller called ctircnf dfl Directory Logs Here will be stored a text archive whose purpose is to log information messages or errors generated by the controllers In any event the Toolbox will check the existence of these Directories and create them automatically if they are missing at the start of the first simulation carried out in each MATLAB session At these times the Command Window will show some messages relating to this process Figures 5 amp 6 Warning AdxCtlr Logs not found Creating directory Info AdxCtlr Logs OK Warning AdxCtlr Ctlrs not found Creating directory Info AdxCtlr Ctlrs OK Warning AdxCtlr Default File not found Copying file Info AdxCtlr Default File OK FIGURE 5 THE DIRECTORIES AND FILES DO NOT EXIST 8 UM TK SM 01 EN ADEX Controller Toolbox for Simulink Info AdxCtlr Logs OK Intro AdxCtlr Ctlrs OK Info AdxCtlr Default File OK FIGURE 6 THE DIRECTORIES AND ARCHIVES DO EXIST The ADEX controllers can only be used when they are located in the same Current Directory In addition if there is a requirement to run two models consecutivel
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