1 Getting Started - MapleSim Help

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1 Getting Started

1.1 Getting Help

In Maple, enter ?ControlDesign at a prompt in a worksheet.

1.2 Using the MapleSim Control Design Templates

The MapleSim Control Design Toolbox provides templates in the form of a Maple worksheet for linearizing MapleSim models and creating PID controllers. These templates contain pre-built embedded components that allow you to generate a linearized representation of your model subsystems, as well as custom components of your system controllers.

 

Viewing MapleSim Control Design Examples

Toolbox examples are available in MapleSim.

Each example includes a linearization template, a PID tuning template, or both. The templates are found under the Attached Files tab, in the Documents entry.

 

To view an example:

1. 

From the Help menu, select Examples > Control Design Examples, and then select the model that you want to view.

2. 

Under the Attached Files tab ( ), expand Documents.

3. 

Right-click (Control-click for Mac®) on an attachment and select View. The template opens in Maple.

 

Some models include additional documents, such as templates that show model equations or define custom components. You can open any of these documents by right- or Control-clicking its entry and selecting View.

1.3 Example: DC Motor

In this example, you will generate a linearized state-space model of the models you created in MapleSim. You will then use this linearized model to create and tune a PID controller.

 

Generating a Linearized Model

 

To generate a linearized model:

1. 

From the Help menu, select Examples > Control Design Examples, and then select the DC Motor - Getting Started model.

2. 

Click Add Apps or Templates ( ), expand the Apps palette, and then double-click on the Linearization entry. The Analysis window opens with the Linearization app opened in the Apps tab.

3. 

Using the drop-down list above the model, select the DC Motor1' subsystem.

 

4. 

Click Load Selected Subsystem. In the Configuration section, the fields for the Inputs, Outputs, and Parameters tables are populated with information specific to the subsystem.  

5. 

In the Configuration section, select Linearization Options.

You can now have the app automatically calculate an equilibrium point to be used as a linearization point or you can choose to have the model linearized about the initial point.

To manually specify the values of the DAE, Input and Output variables, and Parameters, enter the values into appropriate value columns.  Alternatively, to calculate the equilibrium point automatically, select Equilibrium Point. Also, to enable Baumgarte stabilization during linearization of the constraint equations, select use Baumgarte.

6. 

For this example, select Equilibrium Point.

7. 

In the Linearize section, click Linearize to generate the linearized model. The Linearized Model and Variable Mapping fields are automatically updated. In the Analysis section, you can select and view the matrices of your linearized model (select Basic). Select Mappings to view the state, input, and output mappings.

8. 

Scroll to the bottom of the app and under Create Model in the Component Name field, you can enter a custom name for the linearized model, for example, MyMotor for this example. In the description field, you can add more information about your model.

9. 

Click Create to create the linearized state-space model. A custom component with the specified component name (for example, MyMotor) now appears in the Components palette of the Local Components tab ( ) in MapleSim.

10. 

Return to the DC Motor model in MapleSim.

Creating a Custom Controller

 

To create a custom controller:

1. 

If you are not in the top level of your model, click Return to Main ( ) in the Navigation Toolbar.

2. 

Under the Local Components tab ( ), the MyMotor custom component is found in the Components palette. Place the MyMotor custom component in the Model Workspace.

3. 

Click Add Apps or Templates ( ), and then double-click the PID Tuning entry in the Templates palette.

4. 

Enter MyPIDTuner and then click Create Attachment ( ). Your MapleSim model opens in the PID Tuning Template in Maple.

5. 

In the Linearized Model section of the template, select the linearized model MyMotor from the drop-down list. The system is converted to a DynamicSystems object and stored in the zStateSpace variable.

6. 

In the Controller Design section, you can select the tuning method and controller type you want to create. For this example, design a PID controller using the modified Ziegler-Nichols (MZN) Time Domain tuning method:

From the Method drop-down menu, select Ziegler-Nichols Time Domain (MZN). From the Controller drop-down menu, select PID.  If additional information is required for your control design method, the fields below these menus will be populated and you can enter the required information.

7. 

Click Design Controller.

8. 

Next, in the Export to MapleSim subsection, enter MyPID, and then click Export to MapleSim. A custom component generates and exports to MapleSim.

Notes:

• 

You can view the Modelica® code generated for the custom component in the Modelica subsection.

• 

In the Analysis section, you can use the plotting tools to analyze properties such as Zero pole, Bode (magnitude and phase), Step Response, and Nyquist.

To simulate your model using the MyPID custom component:

1. 

Return to your MapleSim model.

2. 

Select the MyMotor custom component and click Disable ( ) to exclude it from the next simulation.

3. 

In the Local Components tab ( ), the MyPID custom component is found in the Components palette. Place the MyPID custom component in the Model Workspace.

4. 

In the Library Components tab ( ), expand the Signal Blocks  Common menu and drag the Feedback component in the Model Workspace.

5. 

Connect the components to your model, as shown below.

 

6. 

Click Run Simulation ( ) in the Main Toolbar to simulate your model. When the simulation is complete, the following graph appears.

You can change the parameters of your controller directly in your model in MapleSim by selecting the PID controller component and editing the parameters in the Properties tab ( ).

 

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