Introduction to LabVIEW for Control Design amp Simulation

Introduction To Labview For Control Design Amp Simulation-Free PDF

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To start a new program called VI for Virtual Instrument click Blank VI. Block Diagram,programming,Front Panel,user interface. Figure 2 LabVIEW new VI, Click in the block diagram to view the area where graphical programs are written Right click inside. the block diagram to view the palette of functions used in creating programs Select the Control Design. Simulation Simulation palette to view the library of simulation functions. Figure 3 Simulation functions sub pallette,In Control Design Simulation pallette. In the next section you will build a model of the open loop system for the process mentioned earlier and. determine the unit set point and unit disturbance responses The following steps will guide you. through the discussed tasks, Construction of an Open Loop Block Diagram Chapters 4 5 6 and 7. 1 Open a new VI by selecting File NewVI The new window will be titled untitled You will. build your closed loop model in the block diagram Save the empty model by choosing File. Save Name the model examplesim From this point on the model will be referred to as. examplesim, 2 Click on the block diagram then right click to bring up the functions palette From the.
Simulation sub pallette click and drag a simulation loop on the block diagram. Click and drag to,create Simulation loop, 3 Place the Transfer Function and Transport Delay blocks from the Continuous. pallette respectively to Examplesim Connect the output of the Transfer Function block. to the input of the Transport Delay block Click on the Transfer Function label and. rename to Process TF This block represents the process Note that in this problem. the process is G s GvGpGm not Gp,Open the dialog,box of Process TF by double. clicking on it Specify,Numerator as 2 and,Denominator as 1 15 50. This indicates the transfer,function 2 50s2 15s 1,The Transfer Function block. allows specification of vectors,for the numerator and.
denominator from either a,configuration dialog box. or a terminal from the,block diagram The vector,elements are treated as the. coefficients of ascending, powers of s in the polynomials representing the numerator and denominator of the. transfer function To see the denominator polynomial of s completely displayed. in the block s icon you may have to resize the block s icon. Double click on the Transport Delay and set Time delay to 1 Note that the Transport. Delay block can be used to represent other types such as measurement delay. 4 Copy the Process TF and Transport Delay blocks and place the copies slightly. above the originals The copies will automatically change names to Process TF1 and. Transfer Delay1 To quickly copy the original blocks select both of them hold the. CTRL key and drag using the left mouse button Rename the Process TF1 block. Disturbance TF In this example Gp and Gd are the same so the Numerator and. Denominator parameters in the dialog box of Disturbance TF are not changed See Figure. 5 Place a copy of the Summation block located in the Signal Arithmetic pallette to the. right of the Transport Delay block Right click on the summation block and select. Visible Items Label to see the label Summation Connect the output from each. Transport Delay block to the input of the Summation block The number of inputs and. their polarity can be modified from the dialog box Later in the tutorial you will be. required to do this, 6 Place a SimTime Waveform graph from the Graph Utilities palette to the right of the. Summation block Connect the output of the Summation block to the input of the. SimTime Waveform block,7 Place a Step Signal block.
from the Signal Generation,palette to the left of,Disturbance TF and connect. it to the input of Disturbance,TF The Step Signal block. generates a step function,The initial value final value. and step time time at which,the step occurs of the. function can be specified,For now double click to,open its dialog box and set.
the initial value and final,value and step time to zero. i e disabling the block Rename the block D, 8 Place a copy of D to the far left of Process TF and rename the new block U Connect. U to the input of Process TF Double click on U and set Step time to 0 Initial value to 0. and Final value 1 U will generate a unit step function in the manipulated variable at time. zero The model developed to this point is a model of the open loop system It should. look similar to the model below, 9 Now we are ready to simulate the open loop response of the system To. select the integration technique and parameters to be used during simulations double. click on the left terminal of the Simulation loop,simulation. Figure 4 Open Loop Block Diagram,A dialog box is opened showing all the.
simulation parameters that can be modified,Set the Final Time to 50 and the Max Step Size. to 1 Note that the LabVIEW Simulation loop,includes an ODE solver The maximum step. size determines the largest step LabVIEW uses,in numerically integrating the ODE Since. this system is easy to numerically integrate a,max step size of 1 will result in a smooth curve. Larger step sizes will produce more jagged, Run the simulation by clicking the Run arrow on either the front panel or the block.
diagram Hint Ctrl E switches between the front panel and block diagram. 10 The response will be automatically plotted Double click on the title to change the name. of the plot You can also right click on the plot to view axis settings autoscaling and. other plot parameters,Figure 5 Unit step response of open loop system. 11 Now simulate the open loop unit disturbance response Double click on U and set final. value to 0 This eliminates the unit step in the manipulated variable Double click on D. and set step time to 0 and final value to 1 This creates a unit disturbance step Again hit. the Run arrow to begin the simulation The front panel will show the response Double. click on the graph title to replace Step Response Open Loop with. Disturbance Response Open Loop Figure 6 shows the resulting plot. Notice that the open loop set point response and disturbance response are the same Why. is this expected, Figure 6 Unit disturbance response of open loop system. 12 If you are not continuing to the next section save the file examplesim so that you can use. it in constructing a closed loop block diagram, Construction of Closed Loop Block Diagram Chapters 11 and 12. 1 Open the file examplesim if it is not already open. 2 Click on the connection between the U block and Process TF block and delete it. Rename the U block to Ysp This block will be used to produce a step change in the. 3 Place a copy of the Sum block to the right of Ysp It. will automatically be given the label Summation2, Open its dialog box and change the the lower input. from to The top input will have a located to the, right of it while the bottom input will have a located.
above it Therefore the output of Summation2 will,be the top input minus the bottom input. Connect the output of Ysp to the top input of Sum1. Also connect the output from Sum to the bottom,input of Sum1 This can be done by clicking on the. bottom input of Sum1 and dragging the arrow to the. output of Sum The output of Sum1 is the error,between the set point Ysp and the controlled. variable Y Your model should look like Figure 7,Figure 7 Partially Completed Closed Loop Diagram. 4 We are now ready to add the PID feedback controller. to the loop There are several versions of the PID,controller block available in LabView however for.
our purposes we have a special version of available. for free at the University of Texas Process Controls. class website,http www che utexas edu course che360 links html. Look for the link PID Controller Block vi for, LabView Tutorial and download and save the file to. your preferred location, 5 Now return to LabView and right click in the block. diagram to bring up the functions palette and click Select a VI This allows you to bring. in any user defined LabVIEW VI into your current program Click on the path where. PID Controller vi was saved Then select the PID Controller and drag it to the right of. the newest sum block Connect the output of the Summation2 to the input of PID. controller and the output of PID controller to the input of Process TF Double click on. the PID controller and enter the ITAE disturbance controller settings given in Table. 12 3 of your textbook as well as at the end of this document Please note that PID. controller settings are Kc I and D where P Kc I Kc I and D Kc D so. numerical values of P I and D should reflect these definitions The model you have. developed represents the closed loop system Your model should now look similar to. Figure 8 Closed Loop Diagram, Note that some text has been added to the block diagram shown on the previous page. Simply by double clicking on a point in examplesim and typing text is added to the. diagram at the point where you clicked The E P X1 X2 text in the block diagram. have no effect on its operation,6 An important feature of LabVIEW is.
interactivity We can use this,capability to make the PID controller. gains interactive from the front,panel rather than having to edit them. on the block diagram Double click,on the PID Controller vi and change. Parameter source from Configuration,Dialog Box to Terminal. 7 Select Ctrl H to bring up Help on the PID, Controller vi and see where the gain terminals are.
located they come in from the top,Right click on each terminal and select. Create Control to automatically wire a control to,the terminal. The inputs to the PID Controller vi should look like. By default LabVIEW creates a standard Numeric control but this can easily be changed. Go to the front panel right click on the control select Replace Horizontal Pointer. Slide Then right click on the new control and Visible Items Digital Display This. way gains may be entered either from the slide or typed in to the numeric control Do. this for each PID gain,The front panel should look like this. 8 Now we are ready to simulate the closed loop response of the system We will start with. the set point response Click on block D and set the Final value to 0 so that no step in the. disturbance will occur Create a step in the set point by clicking on Ysp and setting the. final value to 1 Run the simulation The resulting graph will be for the unit set point. response because D disturbance has been disabled, Figure 9 Unit set point response for ITAE disturbance settings. 9 Now simulate the unit disturbance response Double click on Ysp and set final value to. 0 Double click on D and set final value to 1 Again Run the simulation Label this. plot the same way as the previous one except replace the title Set point Response. with Disturbance Response Figure 10 shows the resulting plot. Figure 10 Unit disturbance response for ITAE disturbance. 10 To save data for plotting examine the changes that were made to the VI saved as. examplesim with file vi, 11 Different settings may compared to each other using Read and Plot Data vi.
Figure 11 Comparison of PID controllers with ITAE settings from Table 12 3. Additional Examples in LabVIEW,There are many helpful. examples in LabVIEW,that illustrate process,control concepts To find. them open Help Find,Examples and go to the,following path. Toolkits and Modules,Simulation Use Cases,Industrial Process Control. Double click on the VI,Description, This example demonstrates a proportional integral PI controller that adjusts the input flow to a.
tank based on a setpoint you specify As you adjust the setpoint the controller manipulates the. input flow to maintain the specified level of liquid in the tank You also can switch to manual. control and specify the input flow manually,Controls Tutorials for LabVIEW. http zone ni com devzone cda tut p id 6368 based on Prof Dawn Tilbury s. tutorials from University of Michigan, http cnx org content col10401 latest NI LabVIEW training course on Rice s. Connexions site,http techteach no labview by Finn Haugen. Gains for Closed Loop exercise,ITAE disturbance 1 65 7 12 1 80. Introduction to LabVIEW for Control Design amp Simulation Ricardo Dunia NI Eric Dean NI and Dr Thomas Edgar UT Reference Text Process Dynamics and Control 2nd edition by Seborg Edgar Mellichamp Wiley 2004 LabVIEW which stands for Laboratory Virtual Instrumentation Engineering Workbench is a graphical computing environment for instrumentation system design and signal processing

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