4 CD Construct Special Model VI 2 nd Order Model VI 2 Note: Hands-on 1, 2 RC 1 RLC mass-spring-damper 2 2 ζ ω n (rad/sec) 2 ( ζ < 1), 1 (ζ = 1), ( ) 1

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1 : LabVIEW Control Design, Simulation, & System Identification LabVIEW Control Design Toolkit, Simulation Module, System Identification Toolkit 2 (RLC Spring-Mass-Damper) Control Design toolkit LabVIEW Simulation Module System Identification Toolkit System Identification wwwnicom I LabVIEW Control Design Toolkit 1 LabVIEW 2 VI, block diagram 3 Control Design Model Construction : >>Control Design>>Model Construction - 1 -

natural frequency (rad/s) 7 Control Design>>Model Construction, CD Draw Transfer Function Equation VI Equation 8 Control

2 4 CD Construct Special Model VI 2 nd Order Model VI 2 Note: Hands-on 1, 2 RC 1 RLC mass-spring-damper 2 2 ζ ω n (rad/sec) 2 ( ζ < 1), 1 (ζ = 1), ( ) 1 (ζ > 1), 1 2 : 2 ωn H ( s) = 2 2 s + 2ςω + ω 5 1 (rad/s) 6 CD Construct Special Model VI damping ratio input natural frequency (rad/s) 7 Control Design>>Model Construction, CD Draw Transfer Function Equation VI Equation 8 Control Design>>Time Response, CD Parametric Time Response VI CD Construct Special Model VI n n 9 Time Response Graph Time Response Parametric Data x

3 11 02, 1 rad/s 12 Time Response Graph 2 Time Response Parametric Data ( 10% 90% ), ( 100 ), ( ), ( ), ( 1% ) 13 While while - 3 -

4 Note: LabVIEW 14 Control Design Toolkit II LabVIEW Simulation Module 15 >>Simulation Simulation Loop ( ) LabVIEW Real- Time Module Hardware-in-the-Loop(HIL) 16 Initial Time, the Final Time, the Time Step and the ODE Solver inputs : ODE ODE solver - 4 -

17 18 Configure Simulation Parameters Simulation Parameters initial time final time ( ) ODE( ) solve Fixes-step ODS solver Time Step Variable step ODE solver Initial Time Step Minimum Time Step,

5 17 18 Configure Simulation Parameters Simulation Parameters initial time final time ( ) ODE( ) solve Fixes-step ODS solver Time Step Variable step ODE solver Initial Time Step Minimum Time Step, Maximum Time Step, Relative Tolerance, Absolute Tolerance 19 ODE Solver Runge-Kutta 1 (Euler) Time Step Explain that the Timing Parameters page can be used to configure the Simulation Loop as a Timed Loop Simulation Loop Timing Parameters software timing, time step hardware timing source, time step 21 Timing Parameters 22 Simulation>>Continous Linear Systems Transfer Function - 5 -

23 Continuous Linear Systems Nonlinear Systems, Discrete Linear Systems, Signal Generation, Signal Arithmetic Graphing, Trimming Linearization, Optimal

Simulation Loop subvi VI Simulation Loop 24 Transfer Function VI Transfer Function Configuration polymorphic instance SISO (single input / single output)

6 23 Continuous Linear Systems Nonlinear Systems, Discrete Linear Systems, Signal Generation, Signal Arithmetic Graphing, Trimming Linearization, Optimal Design Note: Simulation Loop m-script Mathscript subvi Simulation Loop MathScript are useful for nonlinear simulations and control system implementation Simulation Loop subvi VI Simulation Loop 24 Transfer Function VI Transfer Function Configuration polymorphic instance SISO (single input / single output) MIMO (multiple input / multiple output) Once this is specified, you can enter the transfer function coefficients for the numerator denominator preview window MIMO, - 6 -

25 configuration page Parameter source menu Terminal option 26 CD Create Special Model VI Transfer Function Model to the Transfer Function VI Transfer Function 27 Simulation>>Signal Generation Step

7 25 configuration page Parameter source menu Terminal option 26 CD Create Special Model VI Transfer Function Model to the Transfer Function VI Transfer Function 27 Simulation>>Signal Generation Step Signal VI Step Time 0 preview window step signal OK Transfer Function Step Signal 28 Waveform from the Simulation>>Graph Utililties SimTime Waveform Transfer Function SimTime Waveform VI Simulation Plot 29 VI / simulation loop 30 Step Response Plot x Step Response Plot 10 Simulation Plot

31, VI 02 10 Step Response plot from the Control Design

Module LabVIEW Simulation Module, LabVIEW Real-Time Module NI

8 31, VI Step Response plot from the Control Design Toolkit Time Response plot Simulation Plot LabVIEW Simulation Module LabVIEW Simulation Module, LabVIEW Real-Time Module NI I/O hardware-in-the-loop 32 Step Signal VI Text Only Express - 8 -

simulation Loop 37 Collector VI VI VI Signal option 38 Simulation chart Simulation w/ Pulse Input 39 Simulation Loop 40

9 III LabVIEW System Identification Toolkit 33 Step Signal Simulation>>Signal Generation Pulse Signal VI 34 Simulation>>Utilities Collector VI 35 Pulse Signal VI Collector VI Transfer Function block Collector VI 36 VI simulation Loop 37 Collector VI VI VI Signal option 38 Simulation chart Simulation w/ Pulse Input 39 Simulation Loop 40 Control Design & Simulation>>System Identification>>Parametric Model Estimation>>SI Model Estimation SI Model Estimation VI (Express VI) - 9 -

41 Select Model Type system identification Set Model

System Identification>>Model Validation, SI Model

(SISO)) VI 43 System Identification w/ Pulse Input

10 41 Select Model Type system identification Set Model Orders, A order 2, B order 1, Delay value 0 OK 42 System Identification>>Model Validation, SI Model Simulation VI SI Model Estimation (Estimate ARX Model (SISO)) VI 43 System Identification w/ Pulse Input Simulation w/ Pulse Input VI( / ) System Identification ( )

11 NOTE: LabVIEW System Identification Toolkit LabVIEW LabVIEW LabVIEW ID

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