MATLAB SIMULINK

2.3.08.6

2012


1.
.......................................................................................... 3

2.
MATLAB ........................................................................... 3

3.
HELP ................................................................................. 3

4.
Workspace ..................................................................... 6

5.
MATLAB....................................................................... 7

6.
............................................................................ 10

7.
........................................... 11

8.
.................................................................. 13

9.
Workspace ....................................................................... 18

10.
................................................................. 19

11.
........................................................................... 20

12.
............................................................................... 22

13.
.m ............................................................................. 24

14.
Matlab ............................... 26

15.
SIMULINK ...................................................................................... 36

........................................................................................ 57

1.

MATLAB, MATrix LABoratory,

,
. / MATLAB

.

MATLAB SIMULINK.

Users Manual HELP 3.
FORUMS
.
FORUMS search Google.
MATLAB Windows
mouse . MATLAB,
menu Command Prompt.

.

2.

MATLAB

MATLAB/ SIMULINK PC
Lab Login
( Username: temporal Password: !@#$% (
12345) ). T
Start Menu Windows MATH.

3.

HELP

HELP
Command Prompt click Help menu
Product Help. :

Toolboxes
,
.


Product Help.
(sin):

HELP Product Help

. MATLAB


help Command Prompt:

click ..:
matlab\matfun :

Command Prompt "help" - .

help
( ). ,
Help Menu, .

4.

Workspace

MATLAB. quit:

exit:

command prompt enter

click File Exit MATLAB:

MATLAB save workspace

. click File Save Workspace As...

 .
click Save in:

File name.

click Save. workspace load

g f:\_ extension .mat enter.

5.

MATLAB

,
, ";",
:

Enter:


sqrt(2) (sqrt(2) = 2 )

( 7 2) 4 + 3 .
5

, (1x1)
(1 x n m x 1), :

1,1 1,2

2,1 2,2



m,1 m,2

1,n

2,n
 

m,n

(2,3) A, :

V = 1 6 7 9E2 22 (-)
W = 1 2 3 4e3 0 (-) ";"

 .

.
. , V(4)=V(1,4) W(4)=W(4,1).

(:). :

1 0.5
:

2 3 :

MATLAB:

zeros
ones
1
rand

eye

:

 (m x n) . size
1x2 m n
. :

/

([ ]). :

max

min

mean
std

sum

prod


HELP.

6.

/ MATLAB
:

+
*
/
\

10

det
inv
eig

TLAB. /

.
:
Z = X\Y Z = inv(X)*Y
Z = X/Y Z = X*inv(Y).
, A^2 A*A A
. 2^A
. (- )
() det, inv, eig (
HELP
).

7.

- - (.)
:

+
.*
./
.\
.^
.

:
:

11

(;)
/ Command Prompt. .
(.. Help atan2):

12


sin

cos

tan

asin

acos

atan

atan2 Four quadrant arctangent
sinh

cosh

tanh

asinh
acosh
atanh

8.

abs

angle
sqrt

real

imag
conj

round .
fix

floor
-
ceil
+
sign

rem

exp

log

log10 10

MATLAB

. ,

/ .
MATLAB :

plot
loglog
semilogx
semilogy
polar
mesh
contour
bar
stairs

x, y
y, x

3-D

plot
loglog, semilogx, semilogy, polar .
,

b
a.

13

1
0.8
0.6
0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
-1

10

:
1
0.8
0.6
0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
-1

10

plot
.
MATLAB
, ,
.
:

14

.
o
x
+
*
:
-.
--

y
g
c
r
m
b
w
k

: plot(vector1,vector2,line-type)

:
1
0.8
0.6
0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
-1

:

title
xlabel
ylabel
text
gtext
grid

x
y

, :

15

10

 :
Graph of sin(a) in stars and cos(a) in circles
1
0.8
0.6
0.4

y-axis

0.2
0
-0.2
-0.4
-0.6
-0.8
-1

4
5
6
x-axis in radians

10

.
'-' subplot.
: subplot(mnr). , m
n .
r .
:

16

 :
sin(a)

cos(a)

0.5

0.5

-0.5

-0.5

-1

-1

10

sin(a) and cos(a)

1

0.5

0.5

-0.5

-0.5

10

log10(a)

-1

-1

10

10

: axis([x-min x-max y-min y-max]). , xmin x-max y-min y-max
.
, File Print
OK.

17

9.

Workspace

MATLAB
:

who
whos
what
clc
clear
clear
format
...
hold
delete
<Ctrl>-C
<Esc>
<Home>
<End>

Workspace

who
.M

Matlab, Z z (-) .

18

10.
MATLAB .
MATLAB +1.
y=x3+5x-1
y=[1 0 5 -1]. x y
0 x2 .
MATLAB
:

roots
poly
polyval
conv
deconv

y
r. poly(r) y .
x=-2 polyval.

.. w=2x2-x-1,
w=[2 -1 -1] :

19

 w y z=2x5-x4+9x3-7x2-4x+1 z
w y .

11.
MATLAB
. MATLAB
- -TRUE
1 -FALSE
0 .

&
|
~

& | .
~ .
:

20

<

<=

>

>=

==

~
=

any all.
any(A,i), 1
- i. A

21

 . all
- 1.

12.
MATLAB
.
.
FOR, WHILE, IF, IF-ELSE :

FOR
for v = expression
statements
end
for:

for i.
S(i) (i) .
i 1
. i
3 .

WHILE
while expression
statements
end
while
.
while:

22


IF
if expression
statements
end
if
. if:

IFELSE
if expression
statements
else
statements
end
if-else .
. .
.
if-else:

23

 if else
.
g .

13. .m
MATLAB .m.
.m click File New Script:

save File Save As

.m.

24



.m function
:
function [output1, ...] = (1, 2, etc.)
function (1, 2, etc.) .
"1" .. .
" "
.

:

.m witch.m :

:

25

The Witch Curve

8
7
6
5
4
3
2
1
0
-1
-2

-1.5

-1

-0.5

0.5

1.5

(%)
compiler . help witch,
:

14. Matlab

(.) (.). MATLAB tf
ss zpk ( 14.1) .
, MATLAB
. , , .
, . .
. 14.2.
14.1

sys=tf(num,den)

sys=ss(A,B,C,D)

sys=zpk(Z,P,K)

--

14.2

[num, den]=ss2tf(A,B,C,D)

26

[A,B,C,D]=tf2ss(num,den)

[Z,P,K]=ss2zp(A,B,C,D)

--

[Z,P,K]=tf2zp(num,den)

--

[num, den]=zp2tf(Z,P,K)

--

[A,B,C,D]=zp2ss(Z,P,K)

--

14.1 14.2, num den

, , .
A,B,C,D Z, P
K
.
14.1:
G(s)=1/(s2+2s+1).
14.1.

14.1. . . . .

, MATLAB
step impulse .
lsim. ,
initial ( .).
14.3.

14.3

step(sys)

impulse(sys)

lsim(sys,u,t)

initial(sys,x0,t)

( .)

14.3, sys (.)

(.) 14.1, t
u ( t u
). x0 .
step step(num,den) step(A,B,C,D).
14.3. step

27

 . ,
step(*sys).
: lsim,
:
[u,t]=gensig(type,tau),
type (sin,square, pulse) tau
.
14.2: 1
.
14.2 .

14.2. .
.
MATLAB 14.4 :
14.4

pole(sys)

zero(sys)

pzmap(sys)

minreal(sys)

14.3:

:

28

 3 2
1
A=
, B =
,C = 1 1 , D = 0
1 0
0

14.3. 3.
,
. MATLAB
, ,
( ) .
14.5.
14.5

sys=series(sys1,sys2)

sys=parallel(sys1,sys2)

sys=feedback(sys1,sys2,-1)

sys=feedback(sys1,sys2,+1)

: sys=feedback(sys1,sys2,-1)
sys=feedback(sys1,sys2).
14.4:
14.4.

29

 14.4. PI .
14.5, .
14.4.

14.5. . 14.4.
, Matlab
14.6.
14.6

bode(sys)

Bode

[Gm,Pm,Wcg,Wcp] = margin(sys)

30

H=freqresp(sys,w)

nyquist (sys)

nyquist

nichols (sys)

nichols

14.6, sys ,
14.1, w rad/s. Gm Pm
Wcg Wcp .
14.5: Bode Nyquist,
-1 -5, 2 K = 3.
14.6, .

14.6. Bode Nyquist

14.6 Bode
Nyquist.

14.7. Bode 5.

31

 14.8. Nyquist 5.

, (..). Matlab
, , 14.7.
14.7

rlocus(sys)

[K, poles]=rlocfind(sys,P)

P .
: rlocfind
P.
...
14.6: .. :

G(s)=

2
s + 6 s 2 + 5s
3

6.
14.9 .

32

 14.9. .. .
.

14.11. 14.6.

14.12. , -6.
,
(.) (.). MATLAB
tf ss zpk ( 14.8) .
14.8

sys=tf(num,den,Ts)

sys=ss(A,B,C,D,Ts)

sys=zpk(Z,P,K,Ts)

--

Ts . Ts = -1.

14.9.
14.9

dstep(num,den)

dimpulse(num,den)

33

dlsim(num,den,u,t)

dinitial(A,B,C,D,x0,t)

( .)

14.7: :

G (z)=

1
z 0.5

14.13, :

14.13. .
, ,
(). , Matlab
14.10.
14.10
.
sysd = c2d(sys,Ts,'method')

[Ad,Bd,Cd,Dd] = c2dm(A,B,C,D,Ts,'method')

(. .)

[numd,dend] = c2dm(num,den,Ts,'method')

(. .)

method (zoh, foh, imp, tustin, prewarp,

matched) Ts .
: method,
(zoh). matched
.
prewarp, Wc (rad/s)
14.8, :
sysd=c2d(sys,Ts,'prewarp',Wc)
( 14.2),
( 14.4), ( 14.5),
( 14.6) ( 14.7),
. ,
,
14.3.
14.8: :

G (s)=

1
s ( s + 0.5 )

PD :

34

Gc ( s ) = 0.5 + 2 s
Tustin,
= 0.1s .
14.14, Matlab:

14.14. .

14.14
:

14.15.
14.8.

35



14.16. 14.8.

15. SIMULINK


SIMULINK MATLAB
(blocks).
SIMULINK .

.
SIMULINK, .
15.1:
. M=2400kg.
B=320kg/s
F=1130N. v(t)
v(0)=0 m/s.
, M
F -Bv(t).
Newton. :

v
+

B
F
v=
M
M

(15.1)

. (15.1) ,
:

v(t)=

F
(1 e ( B/M )t )
B

(15.2)

( )
SIMULINK.
simulink Command Window
>>simulink

36

 .
SIMULINK,
(.. Continuous, Discrete ..), 15.1:

15.1. Simulink.
FileNewModel untitled
.
, (blocks)
.
untitled .
. 15.2
blocks Continuous
untitled.

37

 15.2. .
15.1
.

15.1

Continuous

Transfer Function

State Space

Integrator

Derivative

Sources

Step

38

Ramp

Clock

Sinks

Scope

To Workspace

Math operations

Gain

Sum

,
.
(15.1)
Laplace. :

G(s)=

v(s)
1
=
F(s) Ms + B

(15.3)

F t=0 s,
:

F(s)=

F
s

(15.4)

untitled
:
) Sources Step Clock.
Step () .
Clock .

39

 15.3. Step Clock.

) Sinks Scope To Workspace.
Scope
To Workspace
simout (workspace) MATLAB
.

15.4. Scope To Workspace.

) Continuous Transfer Fcn.
.

15.5. Transfer Fcn.

,
.
.

15.6. untitled.

40

, Step Transfer Fcn.

(>) Step (>) Transfer Fcn.
,
15.7.

15.7. Step Transfer Fcn.

15.8.
Scope,
(>) Scope
Transfer Fcn To Workspace.

15.8. .
, To Workspace ,
To Workspace1 Clock.

41

 15.9. To Workspace1
Clock.

. Step
Step time: 0 Final value: 1130 OK.

15.10. Step.
Transfer Fcn Denominator:
[2400 320] Apply OK.

42

 15.11. Transfer Fcn.

To Workspace Variable name: v (
To Workspace1 t) Save format Array Apply
OK. , v
t.

15.12. To Workspace.

43

, . , ,
To Workspace Velocity. , To
Workspace1 Time. 15.13:

15.13. .
, (..
, , ..).
Simulation Configuration Parameters 15.14.

15.14. .

44

 , Stop Time: 40, Max Step Size:

1.5 Apply OK.
(solver), ode45 .
(.. stiff problems)
(.. ode15s). Simulation Start (
play).
Scope,
15.15. , 15.16,
plot(t,v) Command Window.

15.15. Scope.

15.16. plot.
File Save As...
(.. submarine) untitled.
:
. ,
Stop Time: Max
Step Size: - .
=M/B=7.5 s.
15.2: 1
v(0)=2 m/s.

. , ,

45

 . , Simulink,
.
E. (1) :

v
=

B
F
v+
M
M

(15.5)

. (15.5) Simulink :
) Continuous o Integrator.
.
v v
.

15.17. Integrator.
) Math operations Gain Sum.
Gain .

. .
Sum .

15.18. Gain Sum.

) Step Scope 15.1.
, 15.19.

15.19. .

46


. Gain
Gain: 1/M Multiplication: Element-wise
(K.*u). Gain1 Gain: B/M.
Apply OK.
: B M,
.

15.20. Gain.
Sum List of signs:
+- Apply OK.

15.21. Sum.
Integrator.
, Initial condition: 2
Apply OK.

47

 22. Integrator.
15.1, To Workspace
t v
. Scope.
Scope :

15.23. Scope.
Parameters 15.23. :

48

 15.24. Scope.
Data History Save data to workspace
Variable name: velocity Format: Array.
velocity
Scope ( ).
Limit data points to last:,
,
15.25.

15.25. Scope.
15.26.
Gain1 Gain1
FormatFlip Block.
( Sum),
. (15.5).

49

 15.26. .
15.1
:

15.27. Scope.
Scope,
velocity.
t v.
Command Window:
>> t=velocity(:,1);
>> v=velocity(:,2);
>> plot(t,v)
:

50

 15.28. plot.
Word,
15.28 JPEG, Bitmap,
Eps .. 15.28. word
.

15.28. Eps.
15.3: 15.1
B v 2 v(0)=2 m/s.
, :

v
+

B 2 F
v =
M
M

(15.6)

. (15.6) . ,
Simulink.
:

51

) User-defined-functions MATLAB Fcn.

Matlab.
.

15.29. MATLAB Fcn.

) Signal Routing Mux.
/ .
.

15.30. Mux.
)
15.2.

Step,

Scope

Integrator

, 15.31.

15.31. .
.
Step, Integrator Scope 15.2.
MATLAB Fcn MATLAB Fcn:
submarine_motion(u(1:2)). submarine_motion function
( 15.33).

52

 . 13. u(1:2)
MATLAB Fcn (
F v ). , Output
Dimensions: 1 MATLAB Fcn
( v
). Apply
OK.

15.32. MATLAB Fcn.

15.33. function MATLAB Fcn.

15.34.

53

 15.34. .
15.1
:

15.35. Scope.
(
) .
, .

54

 . 15.4 PI
Simulink.
15.4: , Simulink,
. (15.3), PI :

kP =160, kI = 240
v=1
m/s .
15.36 .

15.36. PI .
Step ,
15.10 Gain Gain1 kP
k I 15.20.
Scope
15.37, Scope1
15.38.

15.37. .

55

 15.38. PI .

56


word
Figure 1 15.28:
File Export Setup Size, Rendering,
Fonts Lines Export (Eps,JPEG ..)
Save OK.
Word :

15.28.

57