Simulink Control Design 用户指南：建模与仿真系统分析

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"Simulink Control Design User’s Guide.pdf 是一份官方文档，主要介绍Simulink Control Design工具的使用，该工具是MATLAB环境中的一个扩展，用于多域动态系统的建模、仿真和分析。文档涵盖了从2004年到2020年的更新内容，并提供了与MathWorks公司的联系信息、社区支持以及技术支持渠道。" Simulink Control Design是MATLAB生态系统中的一个重要组成部分，它专门针对控制系统设计进行了优化。这个用户指南详细介绍了如何利用Simulink进行控制系统的建模和分析。Simulink提供了一个图形化的块图界面，用户可以通过拖放各种库中的块来构建复杂的系统模型，这些库包含了各种数学函数、控制器设计模块、信号处理算法等。在控制系统设计中，Simulink Control Design支持以下关键功能： 1. 模型降阶：通过模型简化技术，如平衡和奇异值分解，可以创建更小但保留主要动态特性的模型，这有助于快速仿真和分析。 2. 控制器设计：支持设计不同类型的控制器，如PID控制器、状态反馈控制器和预测控制器。用户可以使用内置的控制器设计工具来实现控制器参数化。 3. 性能分析：能够对系统进行稳定性分析、鲁棒性分析和响应时间分析，以确保控制器满足设计要求。 4. 实时仿真：通过硬件在环（HIL）仿真或实时工作台，可以将Simulink模型部署到实际硬件上进行测试，这对于验证和调试控制系统非常有用。 5. 代码生成：Simulink Control Design支持直接从模型生成可执行代码，可以直接集成到目标硬件或嵌入式系统中。 6. 参数调优：提供自动和交互式的参数调整工具，以优化系统性能。 7. 线性化工具：对于非线性系统，可以进行局部线性化，得到关于操作点的线性模型，以便于线性分析和控制器设计。 8. 离散化：将连续时间系统转换为离散时间系统，以适应数字控制器的需求。 9. 模型验证：通过检查模型的完整性、一致性以及是否满足预定义的设计约束，确保模型的质量。 10. 多域协同：Simulink允许在机械、电气、液压等多个工程领域之间进行协同设计，实现跨学科的系统级分析。在使用Simulink Control Design时，用户不仅可以参考本用户指南，还可以访问MathWorks官方网站获取最新资讯、销售与服务信息，参与用户社区交流问题，或者通过技术支持渠道解决遇到的问题。此外，对于美国联邦政府的收购，文档还提及了适用的商业软件规定和条款。 Simulink Control Design是工程师进行复杂控制系统设计的强大工具，它提供了完整的流程，从概念设计到最终实现，助力用户在各个阶段都能高效地完成工作。

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Data Preprocessing ........................................ 7-72

Choosing Identied Plant Structure ............................. 7-73

Process Models ........................................... 7-73

State-Space Models ........................................ 7-76

Existing Plant Models ....................................... 7-77

Switching Between Model Structures ........................... 7-78

Estimating Parameter Values ................................. 7-79

Handling Initial Conditions ................................... 7-79

Design Controller for Power Electronics Model Using Frequency

Response Data ............................................. 7-81

Design Controller for Power Electronics Model Using Simulated I/O Data

......................................................... 7-99

Boost Converter Model ...................................... 7-99

Find Model Operating Point ................................. 7-100

Specify Controller Structure ................................. 7-102

Identify Plant Model ....................................... 7-103

Tune Controller .......................................... 7-108

Validate Controller ........................................ 7-111

Design PID Controller Using Simulated I/O Data .................. 7-114

Design PID Controller Using Estimated Frequency Response ........ 7-130

Design Family of PID Controllers for Multiple Operating Points ..... 7-138

Implement Gain-Scheduled PID Controllers ...................... 7-145

Plant Cannot Be Linearized or Linearizes to Zero ................. 7-151

How to Fix It ............................................ 7-151

Cannot Find a Good Design in PID Tuner ........................ 7-152

How to Fix It ............................................ 7-152

Simulated Response Does Not Match PID Tuner Response .......... 7-153

Cannot Find Acceptable PID Design in Simulated Model ........... 7-155

How to Fix It ............................................ 7-155

Controller Performance Deteriorates When Switching Time Domains 7-156

How to Fix It ............................................ 7-156

When Tuning the PID Controller, the D Gain Has a Dierent Sign from

the I Gain ................................................ 7-157

Tune Field-Oriented Controllers Using SYSTUNE ................. 7-158

Frequency Response Based PID Tuner .......................... 7-171

Experiment Settings ....................................... 7-171

Design Specications ...................................... 7-173

Automatically Update Block ................................. 7-174

Tune and Cancel .......................................... 7-174

Tuning Results ........................................... 7-174

xvi Contents

PID Autotuning

When to Use PID Autotuning .................................... 8-2

PID Autotuning for a Physical Plant ............................. 8-2

PID Autotuning for a Plant Model in Simulink ...................... 8-2

Closed-Loop vs. Open-Loop PID Autotuning ....................... 8-2

When Not to Use PID Autotuning ............................... 8-3

How PID Autotuning Works ..................................... 8-5

Autotuning Process .......................................... 8-5

Workow for PID Autotuning .................................. 8-6

PID Autotuning for a Plant Modeled in Simulink .................... 8-7

Workow for Autotuning in Simulink ............................. 8-7

Step 1. Incorporate Autotuner into Model ......................... 8-7

Step 2. Congure Start/Stop Signal ............................. 8-9

Step 3. Specify Controller Parameters and Tuning Goals .............. 8-9

Step 4. Set Experiment Parameters ............................ 8-10

Step 5. Run Model and Initiate Tuning Experiment ................. 8-11

Step 6. Stop Experiment and Examine Tuned Gains ................ 8-11

Step 7. Update PID Controller with Tuned Gains ................... 8-11

PID Autotuning in Real Time ................................... 8-13

Workow ................................................ 8-13

Step 1. Create Deployable Simulink Model with PID Autotuner Block ... 8-13

Step 2. Congure Start/Stop Signal ............................ 8-16

Step 3. Set PID Tuning Parameters ............................. 8-16

Step 4. Set Experiment Parameters ............................ 8-17

Step 5. Tune and Validate .................................... 8-18

Access Autotuning Parameters After Deployment .................. 8-18

Control Real-Time PID Autotuning in Simulink .................... 8-20

Simulink Model for External-Mode Tuning ....................... 8-20

Run the Model and Tune the Controller Gains ..................... 8-21

Reduce Memory Footprint When Using External Mode .............. 8-22

Tune PID Controller in Real Time Using Open-Loop PID Autotuner Block

......................................................... 8-23

Tune PID Controller in Real Time Using Closed-Loop PID Autotuner Block

......................................................... 8-29

BLDC Motor Speed Control with Cascade PI controllers ............. 8-35

Tune Field-Oriented Controllers Using Closed-Loop PID Autotuner Block

......................................................... 8-46

Tune Field-Oriented Controllers for an Asynchronous Machine Using

Closed-Loop PID Autotuner Block ............................. 8-53

Tune Field-Oriented Controllers for a PMSM Using Closed-Loop PID

Autotuner Block ............................................ 8-61

xvii

Design PID Controllers for Three-Phase Rectier using Closed-Loop PID

Autotuner Block ............................................ 8-68

Classical Control Design

Choose a Control Design Approach ............................... 9-2

Design in Simulink .......................................... 9-2

Real-Time PID Autotuning ..................................... 9-3

Control System Designer Tuning Methods ......................... 9-4

Graphical Tuning Methods .................................... 9-4

Automated Tuning Methods ................................... 9-4

Eective Plant for Tuning ..................................... 9-5

Tuning Compensators In Simulink .............................. 9-6

Select a Tuning Method ...................................... 9-6

What Blocks Are Tunable? ...................................... 9-8

Designing Compensators for Plants with Time Delays ................ 9-9

Design Compensator Using Automated PID Tuning and Graphical Bode

Design .................................................... 9-11

Analyze Designs Using Response Plots ........................... 9-27

Analysis Plots ............................................. 9-27

Editor Plots .............................................. 9-29

Plot Characteristics ........................................ 9-30

Plot Tools ................................................ 9-32

Design Requirements ....................................... 9-33

Compare Performance of Multiple Designs ........................ 9-36

Update Simulink Model and Validate Design ...................... 9-40

Single Loop Feedback/Prelter Compensator Design ............... 9-41

Cascaded Multiloop Feedback Design ............................ 9-49

Tune Custom Masked Subsystems ............................... 9-59

Tune Simulink Blocks Using Compensator Editor .................. 9-66

Reference Tracking of DC Motor with Parameter Variations .......... 9-73

Regulate Pressure in Drum Boiler ............................... 9-78

Modeling Computational Delay and Sampling Eects ............... 9-85

xviii Contents

Control System Tuning

Automated Tuning Overview .................................... 10-3

Choosing an Automated Tuning Approach ........................ 10-4

Automated Tuning Workow .................................... 10-6

Specify Control Architecture in Control System Tuner .............. 10-7

About Control Architecture ................................... 10-7

Predened Feedback Architecture ............................. 10-7

Arbitrary Feedback Control Architecture ........................ 10-8

Control System Architecture in Simulink ........................ 10-9

Open Control System Tuner for Tuning Simulink Model ............ 10-10

Command-Line Equivalents ................................. 10-10

Specify Operating Points for Tuning in Control System Tuner ....... 10-11

About Operating Points in Control System Tuner ................. 10-11

Linearize at Simulation Snapshot Times ........................ 10-11

Compute Operating Points at Simulation Snapshot Times ........... 10-13

Compute Steady-State Operating Points ........................ 10-15

Specify Blocks to Tune in Control System Tuner .................. 10-17

View and Change Block Parameterization in Control System Tuner ... 10-19

View Block Parameterization ................................ 10-19

Fix Parameter Values or Limit Tuning Range .................... 10-21

Custom Parameterization ................................... 10-22

Block Rate Conversion ..................................... 10-23

Setup for Tuning Control System Modeled in MATLAB ............. 10-26

How Tuned Simulink Blocks Are Parameterized ................... 10-27

Blocks With Predened Parameterization ....................... 10-27

Blocks Without Predened Parameterization ..................... 10-28

View and Change Block Parameterization ....................... 10-28

Specify Goals for Interactive Tuning ............................ 10-29

Quick Loop Tuning of Feedback Loops in Control System Tuner ..... 10-34

Quick Loop Tuning .......................................... 10-42

Purpose ................................................ 10-42

Description .............................................. 10-42

Feedback Loop Selection ................................... 10-42

Desired Goals ............................................ 10-43

Options ................................................ 10-44

Algorithms .............................................. 10-44

Step Tracking Goal .......................................... 10-45

Purpose ................................................ 10-45

Description .............................................. 10-45

xix

Step Response Selection .................................... 10-45

Desired Response ......................................... 10-46

Options ................................................ 10-47

Algorithms .............................................. 10-48

Step Rejection Goal .......................................... 10-50

Purpose ................................................ 10-50

Description .............................................. 10-50

Step Disturbance Response Selection .......................... 10-51

Desired Response to Step Disturbance ......................... 10-51

Options ................................................ 10-52

Algorithms .............................................. 10-52

Transient Goal .............................................. 10-54

Purpose ................................................ 10-54

Description .............................................. 10-54

Response Selection ........................................ 10-54

Initial Signal Selection ..................................... 10-55

Desired Transient Response ................................. 10-56

Options ................................................ 10-56

Tips ................................................... 10-57

Algorithms .............................................. 10-57

LQR/LQG Goal .............................................. 10-59

Purpose ................................................ 10-59

Description .............................................. 10-59

Signal Selection .......................................... 10-59

LQG Objective ........................................... 10-60

Options ................................................ 10-61

Tips ................................................... 10-61

Algorithms .............................................. 10-61

Gain Goal .................................................. 10-63

Purpose ................................................ 10-63

Description .............................................. 10-63

I/O Transfer Selection ..................................... 10-64

Options ................................................ 10-64

Algorithms .............................................. 10-65

Variance Goal ............................................... 10-67

Purpose ................................................ 10-67

Description .............................................. 10-67

I/O Transfer Selection ..................................... 10-67

Options ................................................ 10-68

Tips ................................................... 10-69

Algorithms .............................................. 10-69

Reference Tracking Goal ...................................... 10-71

Purpose ................................................ 10-71

Description .............................................. 10-71

Response Selection ........................................ 10-72

Tracking Performance ..................................... 10-72

Options ................................................ 10-73

Algorithms .............................................. 10-74

xx Contents

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