Name: Student Number: Date:

Subject & Section: Experiment: Control and Simulation . Prof:

LEARNING OUTCOMES:
After completing this experiment the students will be able to:
1. Understand the different modules related to control and simulation.
2. Implement the various control and simulation models.
3. Use control and simulation toolkits of LabVIEW.

Control and Simulation

Control design is a process that involves developing mathematical models that describe a
physical system, analyzing the models to learn about their dynamic characteristics, and creating
a controller to achieve certain dynamic characteristics. Simulation is a process that involves using
software to recreate and analyze the behavior of dynamic systems. You use the simulation
process to lower product development costs by accelerating product development. You also use
the simulation process to provide insight into the behavior of dynamic systems you cannot
replicate conveniently in the laboratory. Below we see a closed-loop feedback control system:

Figure 1. Sample Closed-Loop Feedback Control System

Control and Simulation in LabVIEW

LabVIEW has several additional modules and Toolkits for Control and Simulation purposes, e.g.,
LabVIEW Control Design and Simulation Module, LabVIEW PID and Fuzzy Logic Toolkit,
LabVIEW System Identification Toolkit and LabVIEW Simulation Interface Toolkit.

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 Figure 2. Control Design and Simulation Toolkit

LabVIEW Control Design and Simulation Toolkit

With LabVIEW Control Design and Simulation Toolkit you can construct plant and control
models using transfer function, state-space, or zero-pole-gain. Analyze system performance with
tools such as step response, pole-zero maps, and Bode plots. Simulate linear, nonlinear, and
discrete systems with a wide option of solvers. With the NI LabVIEW Control Design and
Simulation Module, you can analyze open-loop model behavior, design closed-loop controllers,
simulate online and offline systems, and conduct physical implementations.

Simulation

Figure 3. Simulation Palette in LabVIEW

The main features in the Simulation palette are:

Control and Simulation Loop - You must place all Simulation functions within a Control &
Simulation Loop or in a simulation subsystem.

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 Continuous Linear Systems Functions - Use the Continuous Linear Systems functions to
represent continuous linear systems of differential equations on the simulation diagram.
Signal Arithmetic Functions - Use the Signal Arithmetic functions to perform basic
arithmetic operations on signals in a simulation system.

Control Design

Figure 4. Control Design Palette

LabVIEW PID and Fuzzy Logic Toolkit

The NI LabVIEW PID and Fuzzy Logic Toolkit add control algorithms to LabVIEW. By
combining the PID and fuzzy logic control functions in this toolkit with the math and logic functions
in LabVIEW software, you can quickly develop programs for automated control. You may
integrate these control tools with the power of data acquisition.

PID Control

Figure 5. PID Palette

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 Figure 6. Fuzzy Logic Palette

LabVIEW System Identification Toolkit

The LabVIEW System Identification Toolkit combines data acquisition tools with system
identification algorithms for plant modeling. You can use the LabVIEW System Identification
Toolkit to find empirical models from real plant stimulus-response information.

Figure 7. System Identification Palette

Simulation
Simulation is a process that involves using software to recreate and analyze the behavior
of dynamic systems. You use the simulation process to lower product development costs by
accelerating product development. You also use the simulation process to provide insight into the
behavior of dynamic systems you cannot replicate conveniently in the laboratory. For example,
simulating a jet engine saves time, labor, and money compared to building, testing, and rebuilding
an actual jet engine. You can use the LabVIEW Control Design and Simulation Module to simulate
a dynamic system or a component of a dynamic system. For example, you can simulate only the
plant while using hardware for the controller, actuators, and sensors (Hardware-in-the-loop

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Simulation). A dynamic system model is a differential or difference equation that describes the
behavior of the dynamic system.

Simulation in LabVIEW
Use the Simulation VIs and functions to create simulation applications in LabVIEW. In the
Control Design & Simulation palette we have the Simulation Sub palette:

Figure 8. Simulation Sub-Palette

Note: All the Blocks in the Simulation palette are not SubVIs, i.e., we cannot double-click on
them and open the Block Diagram because they have none. All the Blocks in the Simulation
palette must be used inside the Control and Simulation Loop.

Control and Simulation Loop

In the Simulation Sub palette we have the Control and Simulation Loop which is very
useful in simulations. You must place all Simulation functions within a Control & Simulation Loop
or in a simulation subsystem. You also can place simulation subsystems within a Control &
Simulation Loop or another simulation subsystem, or you can place simulation subsystems on a
block diagram outside a Control & Simulation Loop or run the simulation subsystems as stand-
alone VIs.

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 Figure 9. Control Simulation Loop

The Control & Simulation Loop has an Input Node (upper left corner) and an Output Node (upper
right corner). Use the Input Node to configure simulation parameters programmatically. You also
can configure these parameters interactively using the Configure Simulation Parameters dialog
box. Access this dialog box by double-clicking the Input Node or by right-clicking the border and
selecting Configure Simulation Parameters from the shortcut menu.
Configuration:
For the Transfer Function (Simulation Continuous Linear Systems) block we have the
following Configuration window:

Figure 10. Transfer Function Configuration

In the Parameter source you may select between:

Configuration Dialog Box
Terminal

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If you select Configuration Dialog Box you enter the configuration in the Configuration window
like we see in Figure 10, while if you select Terminal that specific configuration is set from the
Block Diagram as seen in Figure 11.

Figure 11. Transfer Function Terminal Setting

Simulation Subsystem

Figure 12. Simulation Subsystem

The Simulation Subsystem is very useful when dealing with larger simulation systems in
order to create a more structured code. I recommend that you (always) use this feature. The
Simulation Subsystem is almost equal to a normal LabVIEW Block Diagram but notice the
background color is slightly darker.
Note: In order to open the Simulation Subsystem, right-click and select Open Subsystem. The
Simulation Subsystem may also be represented by different icons. If you select dynamic icon
style, you will see a miniature version of the subsystem. If you select static icon style you see
the icon you created with the Icon Editor.

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Continuous Linear System

Figure 13. Continuous Linear System Sub-palette

In the Continuous Linear Systems Sub palette will be to create a simulation model. The
most used blocks probably are Integrator, Transport Delay, State-Space and Transfer Function.
When you place these blocks on the diagram you may double-click or right-click and then select
Configuration
Integrator - Integrates a continuous input signal using the ordinary differential equation (ODE)
solver you specify for the simulation.
Transport Delay - Delays the input signal by the amount of time you specify.
Transfer Function - Implements a system model in transfer function form. You define the system
model by specifying the Numerator and Denominator of the transfer function equation.
State-Space - Implements a system model in state-space form. You define the system model by
specifying the input, output, state, and direct transmission matrices.

Simulation Model

Figure 14. Sample Simulation Model using Control and Simulation Loop

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Click on the border of the simulation loop and select Configure Simulation Parameters. The
Configure Simulation Parameters window appears:

Figure 15. Simulation Parameters Window

In this window you set some Parameters regarding the simulation, some important are:
Final Time (s) set how long the simulation should last. For an infinite time set Inf.
Enable Synchronized Timing - Specifies that you want to synchronize the timing of the
Control & Simulation Loop to a timing source. To enable synchronization, place a
checkmark in this checkbox and then choose a timing source from the Source type list
box.

ACTIVITY: SIMULATION OF A SPRING-DAMPER SYSTEM

In this activity you will construct a simulation diagram that represents the behavior of a
dynamic system. You will simulate a spring-mass damper system.

Where t is the simulation time, F(t) is an external force applied to the system, c is the damping
constant of the spring, k is the stiffness of the spring, m is a mass, and x(t) is the position of the
mass. x dot is the first derivative of the position, which equals the velocity of the mass. x double
dot is the second derivative of the position, which equals the acceleration of the mass.

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 Figure 16. Spring Damper System

The goal is to view the position x(t) of the mass m with respect to time t. You can calculate the
position by integrating the velocity of the mass. You can calculate the velocity by integrating the
acceleration of the mass. If you know the force and mass, you can calculate this acceleration by
using Newton's Second Law of Motion, given by the following equation:
Force = Mass Acceleration
Therefore,
Acceleration = Force / Mass
Substituting terms from the differential equation above yields the following equation:

Creating the Simulation Diagram

You create a simulation diagram by placing a Control & Simulation Loop on the LabVIEW block
diagram.
1. Launch LabVIEW and select File New VI to create a new, blank VI.
2. Select Window Show Block Diagram to view the block diagram. You also can press the
<Ctrl-E> keys to view the block diagram.
3. If you are not already viewing the Functions palette, select View Functions Palette to
display this palette.
4. Select Control Design & Simulation Simulation to view the Simulation palette.
5. Click the Control & Simulation Loop icon.
6. Move the cursor over the block diagram. Click to place the top left corner of the loop, drag
the cursor diagonally to establish the size of the loop, and click again to place the loop on
the block diagram.
The simulation diagram is the area enclosed by the Control & Simulation Loop. Notice the
simulation diagram has a pale yellow background to distinguish it from the rest of the block
diagram. You can resize the Control & Simulation Loop by dragging its borders.

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 Configuring Simulation Parameters:
The Control & Simulation Loop contains the parameters that define how the simulation executes.
1. Double-click the Input Node, attached to the left side of the Control & Simulation Loop, to
display the Configure Simulation Parameters dialog box. You also can right- click the loop
border and select Configure Simulation Parameters from the shortcut menu.
2. Ensure the value of the Final Time (s) numeric control is 10, which specifies that this
activity simulates ten seconds of time.
3. Click the ODE Solver pull-down menu to view the list of ODE solvers the Control Design
and Simulation Module includes. If the term (variable) appears next to an ODE solver, that
solver has a variable step size. The other ODE solvers have a fixed step size. Ensure a
checkmark is beside the default ODE solver Runge-Kutta 23 (variable).
4. Because this ODE solver is a variable step-size solver, you can specify the Minimum Step
Size (s) and Maximum Step Size (s) this ODE solver can take. Enter 0.01 in the Maximum
Step Size (s) numeric control to limit the size of the time step this ODE solver can take.
5. Click the Timing Parameters tab to access parameters that control how often the
simulation executes.
6. Ensure the Synchronize Loop to Timing Source checkbox does not contain a checkmark.
This option specifies that the simulation executes without any timing restrictions. Use this
option when you want the simulation to run as fast as possible. If you are running this
simulation in real-time, you can place a checkmark in this checkbox and configure how
often the simulation executes.
7. Click the OK button to save changes and return to the simulation diagram.
Building the Simulation
The next step is to build the simulation by placing Simulation functions on the simulation
diagram and wiring these functions together. Note that you can place most Simulation functions
only on the simulation diagram, that is, you cannot place Simulation functions on a LabVIEW
block diagram.
Placing Functions on the Simulation Diagram
1. Open the Simulation palette.
2. Select the Signal Arithmetic palette and place a Multiplication function on the simulation
diagram. You will use this function to divide the force by the mass to calculate the
acceleration.
3. Double-click the Multiplication function to display the Multiplication Configuration dialog
box. You can double-click most Simulation functions to view and change the parameters
of that function.
4. The function currently displays two symbols on the left side of the dialog box. This setting
specifies that both incoming signals are multiplied together. Click the bottom symbol to
change it to a symbol. This Multiplication function now divides the top signal by the
bottom signal.
5. Click the OK button to save changes and return to the simulation diagram.
6. Right-click the Multiplication function and select Visible Items Label from the shortcut
menu. Double-click the Multiplication label and enter Calculate Acceleration as the new
label.
7. Return to the Simulation palette and select the Continuous Linear Systems palette.

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 8. Place an Integrator function on the simulation diagram. You will use this function to
calculate velocity by integrating acceleration.
9. Label this Integrator function Calculate Velocity.
10. Press the <Ctrl> key and click and drag the Integrator function to another location on the
simulation diagram. This action creates a copy of the Integrator function, which you will
use to calculate position by integrating velocity. Label this new Integrator function
Calculate Position.
11. Select the Graph Utilities palette and place two SimTime Waveform functions on the
simulation diagram. You will use these functions to view the results of the simulation over
time.
12. Each SimTime Waveform function has an associated Waveform Chart. Label the first
waveform chart Velocity and the second waveform chart Position.
13. Arrange the functions to look like the following simulation diagram.
14. Save this VI by selecting File Save. Save this VI to a convenient location as Spring-
Mass Damper Example.vi.
Wiring the Simulation Functions Together
The next step is wiring the functions together to represent the flow of data from one function to
another.
Note: Wires on the simulation diagram include arrows that show the direction of the dataflow,
whereas wires on a LabVIEW block diagram do not show these arrows.
1. Right-click the Operand1 input of the Calculate Acceleration function and select Create
Control from the shortcut menu to add a numeric control to the front panel window.
2. Label this control Force.
3. Double-click this control on the simulation diagram. LabVIEW displays the front panel
and highlights the Force control.
4. Display the block diagram and create a control for the Operand2 input of the Calculate
Acceleration function. Label this new control Mass.
5. Wire the Result output of the Calculate Acceleration function to the input of the Calculate
Velocity function.
6. Wire the output of the Calculate Velocity function to the input of the Calculate Position
function.
7. Right-click the wire you just created and select Create Wire Branch from the shortcut
menu. Wire this branch to the Value input of the SimTime Waveform function that has
the Velocity waveform chart.
8. Wire the output of the Calculate Position function to the Value input of the SimTime
Waveform function that has the Position waveform chart.
Running the Simulation
You now can run this simulation to test that the data is flowing properly through the Simulation
functions.
1. Select Window Show Front Panel, or press <Ctrl-E>, to view the front panel of this
simulation. The front panel displays the following objects: a control labeled Force, a control
labeled Mass, a waveform chart labeled Velocity, and a waveform chart labeled Position.
2. If necessary, rearrange these controls and indicators so that all objects are visible.

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 3. Enter -9.8 in the Force numeric control. This value represents the force of gravity, 9.8
meters per second squared, acting on the dynamic system.
4. Enter 1 in the Mass numeric control. This value represents a mass of one kilogram.
5. Click the Run button, or press the <Ctrl-R> keys, to run the VI.
OBSERVATION:

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