xpc Target Tutorial Control System Design Feb. 15, 2004 For more detailed information, see the xpc target manual at:

Transcription

1 xpc Target Tutorial Control System Design Feb. 15, 2004 For more detailed information, see the xpc target manual at:

2 Control Hardware Connect to your experiment through the network. xpc target IP: xpc target IP: xpc target Student laptops IP:

3 Software Architecture for Laptop (host computer) 1. Generate real time code and download to computer Simulink Visual C++ xpc Target Real Time Workshop EXECUTABLE 2. Execute code and interact with real time process MATLAB GUI xpcrctool.m Simulink MATLAB command line or script

4 Setting up xpc Target This GUI configures your computer to communicate with the xpc target computer. 1. At the MATLAB prompt type: xpcsetup <enter> 2. Enter appropriate data 3. Click on Update 4. Click on Close See zoom on next page.

5 xpcsetup Zoom Change all settings to match the values shown below, except for the CompilerPath and TcpIpTargetAddress. The compiler path should contain the path to visual C++ on your computer. Use the TcpIpTargetAddress assigned to the box controlling your hardware. Path to VC++ on your computer IP address of target computer

6 Test your xpc setup Test your setup with a MATLAB xpc target test suite. At the MATLAB prompt, enter: xpctest( noreboot ) <enter> It is important to include the noreboot option or the computer will lock up. All is good if there are no errors reported.

7 Create Simulink Model ( 2 PD controllers ) Data logging Encoders D/A converters Differentiation

8 Find Simulink block: Encoder Details xpc Target\Incremental Encoder\Measurement Computing\PCI-QUAD04 Channel number: There are four encoder channels available. Count four times per complete cycle of the quadrature signal. position in radians = 2*pi*Count / (1024*4)

9 Find Simulink block: D/A Details xpc Target\D/A\Measurement Computing\PCIM-DAS Channel number: There are 2 D/A channels available. Channels 1 and 2 are connected to motor amplifiers. Set the range for both channels: 10 to +10 volts Reset to initial value after termination Desired voltage signals feed in here Initial value of D/A

10 PD Controller Details Derivative term in the feedback to avoid reference differentiation Proportional Gain Derivative Gain Desired Position Controller Output Actual Position Differentiation ( velocity estimate )

11 Configure for Compile (1-runtime) On your Simulink window select: Simulation Configuration Parameters Solver Choose fixed step Program will halt after this time Your real time interrupt rate

12 Configure for Compile (2-compile) On your Simulink window select: Simulation Configuration Parameters Real-Time Workshop 1. Click on Browse. 2. Select xpc Target from the pop up menu. 3. Screen should now look like this.

13 Configure for Compile (3-data log) On your Simulink window select: Simulation Configuration Parameters Real-Time Workshop xpc Target options Enter size of data Logging buffer.

14 Compile and Download Using either method 1 or method 2 will cause MATLAB to compile your Simulink Model and download the real time code to the target PC. Method 1 select: Tools Real-Time Workshop Build Model Method 2 Click on the Build button.

15 Execute via GUI At the MATLAB prompt, type: xpcrctool <enter> Click play button to start real time code execution. Monitor signals during run time. Not Real Time! Log data to plot after execution.

16 Monitor Signals via GUI 1. Select Host scope 2. Click Add Scope 3. Select Host 4. Select from pull down menu: Tools Host Scope Manager 5. Click Add Signals Your Simulink diagram will pop up. You can select any signal to monitor by right clicking on the signal trace.

17 Data Logging via GUI After the program has finished, check the outputs box. Click on Plot Logged Data. The outputs correspond to the outport blocks in your Simulink Diagram

18 Execute via Command Line >> start(tg): start execution of real time code >> stop(tg): stop execution of real time code If you already have a compiled application, you can load it with: load(xpcobj, APPNAME)

19 Data Logging via Command Line Regardless of how you execute the real time code, the logged data will be available from the MATLAB command line after the code has finished. tg.outputlog(:,1) The variable tg.timelog is a time vector tg.outputlog is a matrix of logged data At the MATLAB prompt: >> time = tg.timelog; >> outputlog = tg.outputlog; >> response =outputlog(:,3); >> plot(time,response); tg.outputlog(:,2) tg.outputlog(:,3)

20 Parameter Tuning via Command Line Each parameter will have a parameter name (e.g. P1 P14, etc.) To see the list of parameters and associated Simulink variables: set(tg,'showparameters','on') ; <enter> tg <enter> Parameters = PROP. VALUE PARAMETER NAME BLOCK NAME P Scalar P1 PCI-QUAD04 P Scalar P2 PCI-QUAD04 P Scalar P3 PCI-QUAD04 P Scalar P4 PCI-QUAD04 P Scalar P5 PCI-QUAD04 P Scalar P6 PCI-QUAD04 P Scalar P7 PCI-QUAD04 P Scalar P8 PCI-QUAD04

21 Parameter Tuning via Command Line To change the value of a parameter: setparam(tg, parameter number, new value); e.g. If we want P3 = 10 we write setparam(tg, 3, 10); <enter>

22 Execute and Parameter Tuning via Simulink 1. External Mode 2. Connect to Target 3. Run Executable 4. Click on blocks to change parameter values during real time.