This example illustrates how to enable custom masked subsystems in a Simulink Compensator Design Task. Once configured a block can be used in the same way as any supported blocks in Simulink Control Design.
The example configured lead-lag block is in the library
The lead-lag block implements a compensator element with a single zero and pole. There are three parameters
wp which are configured in the block dialog:
The parameters are then used inside the mask create an equivalent transfer function:
The configuration of a masked subsystem for Simulink Control Design is specified in a configuration function. In this example the configuration function has been written in the M-Function scdleadexample.m. This configuration function specifies that:
There is only a maximum of 1 pole allowed (MaxPoles Constraint)
There is only a maximum of 1 zero allowed (MaxZeros Constraint)
The gain is tunable (isStaticGainTunable Constraint)
The configuration is registered in the subsystem using the
SCDConfigFcn parameter for the block. This function can be set using the command
set_param or through the Block Properties dialog which is accessed by right clicking on any subsystem.
After setting the SCDConfigFcn the block is now ready to be used in a Simulink Compensator Design Task.
The lead-lag block can be used to tune the feedback loop in example entitled "Single Loop Feedback/Prefilter Design". To begin the compensator design process:
Step 1 Start a new Simulink Compensator Design Task for the model scdspeedctrlleadlag by choosing Analysis -> Control Design -> Control System Designer from the Simulink model.
Step 2 Select the following block to tune by clicking the Select Blocks... button on the Tunable Blocks panel:
scdspeedctrlleadlag/Feedback Controller/Lead-Lag Controller
load_system('scdspeedctrlleadlag') open_system('scdspeedctrlleadlag/Feedback Controller')
The lead-lag block will show up inside the subsystem
Step 3 Select the closed loop signals by right clicking and using the Linearization Points menu:
scdspeedctrlleadlag/Speed Reference output port 1
scdspeedctrlleadlag/Speed Output output port 1
Step 4 In the Operating Points panel select Default Operating Point.
Step 5 Click on the Tune Blocks... button to launch the Design Configuration Wizard.
To tune the Open Loop at the outport 1 of
scdspeedctrlleadlag/Feedback Controller/Lead-Lag Controller, select Open Loop 1 for Plot 1 and select Open-Loop Bode as its Plot Type.
In the wizard select Closed Loop 1 for Plot 2 and select Closed-Loop Bode as its Plot Type.
In step 2 of the wizard select Step responses for Plot 1 and Plot 2. Then in the Contents of Plots table
Select Plot 1 for the
Closed Loop from /Speed Reference to scdspeedctrl/Speed Output|
After completing the wizard a SISO Design Task node is created. Use this task node to complete the design. Go to the Compensator Editor tab to tune the lead-lag compensator. The block parameters for the lead-lag block can now be tuned.
The design requirements for the reference step response in the example "Single Loop Feedback/Prefilter Design" can be met with the following controller parameters
scdspeedctrlleadlag/Feedback Controller/Lead-Lag Controller has parameters:
Gain = 0.0075426
Zero Frequency (rad/s) = 2
Pole Frequency (rad/s) = 103.59
The responses of the closed loop system are shown below:
You can then test the design on the nonlinear model by clicking the Update Simulink Block Parameters button. This writes the parameters back to the Simulink model.