VisSim for Dynamic Simulation and Model Based Control Design Visual Solutions, Inc. 487 Groton Road, Westford MA 01886 USA (800) VISSIM-1 .

VisSim for Dynamic Simulation and Model Based

Control Design

Visual Solutions, Inc.487 Groton Road, Westford MA 01886 USA

(800) VISSIM-1www.vissim.com

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Visual Solutions• Founded in 1989

• Creator and continued developer of VisSim – a block diagram language for modeling, simulation and embedded system development

• Shipped over 250K licenses

• Located in Westford, Mass – 45 min NW Boston

• EDN Hot 100 top products winner

VSI Relationships

• Texas Instruments Partner since June 2000– TI includes VisSim/ECD in hardware evaluation kits

• Telelogic/IBM resells VisSim as “Continuous Modeler”.– Tight co-simulation coupling with Statemate.

• Mathsoft(PTC) resold VisSim/PE low end VisSim products

Visual SolutionsMarkets & Major AccountsAerospace Motion Control Power & GasAllied-Signal Allen Bradley British GasGeneral Dynamics Danaher/Kollmorgen Arizona P&G GEC Alsthom Maxon Motor AG Florida Light&PowerBF Goodrich Aerospace General Electric Drives Hitachi PowerBoeing Electric Motion Systems Manitoba PowerBritish Aerospace Indramat Ontario HydroCessna Instron Corporation Pacific Gas & ElectricEmbraer INA Motorenelemente Schaeffler KG Kollsman Copley Controls Litton Parker Hannifin Tenneco GasLockheed-Martin Universal Instruments TVANASA Spectra Physics Union ElectricNorthrop-Grumman Vickers Virginia PowerPratt & Whitney Textron

Visual Solutions Markets & Major AccountsIndustry Process Control TransportationABB-Instrumentation Alcan Rolled Products ABBAllen Bradley Amoco BombardierCarrier Corporation Bethlehem Steel British RailCorning Bayer RenaultFuji Electronics BP Chemical EatonGeneral Electric Emerson Process Ford3M Dow Chemical GMHoneywell DuPont Honda R & DHughes Foxboro MazdaIBM General Mills VolvoJohnson Controls Georgia PacificMotorola International PaperRaytheon Kaiser AluminumTRW Mead PaperToshiba Mobil ChemicalUnited Technologies PotlatchWestinghouse Weyerhaeuser

VisSim in Process

• Dupont Nomex plant model for off-line tuning• Ineos-chlor – operator training, off-line tuning• Emerson Process – pulp and paper modeling• Honeywell – pulp and paper plant modeling for

optimization and troubleshoot• HP – printer fabrication logistics optimization • Amoco – off shore oil rig gas turbine

simulation

VisSim in Biomedical

• Resmed – Human respiration models, embedded test• Medtronics – Respirator test• Cardinal Health – Respirator modeling and

development• Medran – Digital filtering for MRI vital stat monitor• Respironics – Respirator develoment• Newport Medical – Respirator develoment• Luminous Medical – Automated blood glucose

monitoring

VisSim in Water Treatment• East Bay Municipal District – Oakland, Cal

– models problematic flow and filtering systems for control improvement

• Passaic Valley Sewerage Commissioners– Treats 25% of New Jersey Waste Water– Use VisSim models to develop new controls for Flow

Balance and Level Control– Paper given at ISA WWAC 2009

• Scottish Water Authority– VisSim modeled effect of PLC control of dam sluice gates

on reservoir height for high rain event

VisSim in Automotive

• Mercedes-ILMOR– models Formula 1 McClaren engines(V10 - 885 BHP).– Analyze aspects of engine control such as adaptive torque,

high pressure injection• Delphi Automotive

– Develop anti lock braking. Use laptop w/VisSim/RealTime to test control strategies

• Chrysler– Models aspects of manufacturing line

• Freightliner– Test track steering control

What our users say:

• I am using Vissim 7.0 almost every day. I am very pleased with the functionality and new blocks that have been added with for the F280x controller from TI. I think that you are now achieving your statement (from the TI site) that VisSim ECD is capable of creating a complete control algorithm for the F280x directly from the VisSim environment.

• As a developer of high and very-high power digitally-controlled power supplies, I don't have the time to get too much into the nitty gritty of the DSP and find the VisSim environment ideal for me. I would like to thank you for your support at VisSim and the continuing development of your software

• Tony Boon Power Engineer CEG Elettronica

Recent customer ship of control designed and developed 100% in VisSim

• Electric Motion Systems developed F2801 based controller with:

– PMSM space vector control– Hall sensor interpolation– Cruise control– Regenerative braking– Temp & bus voltage sensing– I2C read/write to EEPROM– Serial port protocol to read and write packet

commands for status, accel, cruise, brake etc.• http://www.electricmotionsystems.com/

VisSim Overview• Visual block diagram software for dynamic

system simulation and embedded system development.– Fast, accurate dynamic simulation for floating and

fixed-point– Automatic production of high quality fixed point code– Exceptional dynamic and DSP-in-loop simulation

capabilities– Automatic programming of on-chip DSP peripherals

• Intuitive, easy-to-use graphical user interface

Product Line

• VisSim Core Visual Simulation Tool - build, simulate and debug dynamic systems– Simulink Translator– 3D Animation– Over 100 built-in blocks– Built-in C & VML interpreter– Matlab interface– Royalty free redistributable Viewer

VisSim Add-ons• Real-Time - Allows up to 30 kHz closed loop

sampling from VisSim on PC• C-Code - Generates ANSI C from diagram• Analyze - Frequency domain analysis of

linearized non-linear subsystem (Bode, Root-locus, Nyquist plots)

• Fixed-point - Block set of bit true scaled integer operations for simulation and code generation

VisSim Add-ons (cont.)

• Comm - Physical layer data communication• Optimize Pro - Generalized Reduced Gradient method of

parameter optimization• Neural nets - Neural network construction and training

package• DSP Targets – Texas Instruments C2000, MSP430, C6713• OPC Client – connects to any OPC server for factory floor

acquisition, operator training/tuning against factory model• PMD DK2300 – motion controller interface for BLDC, stepper

and Brush DC motors. Takes trajectories, jerk, accel & velocity limits and creates motor commands.

VisSim/Comm

• Addon for physical layer data communications• Performs Modulation/Demodulation,

encoding/decoding, channel fading, filtering, BER analysis

• 802.11g• Ultrawide band short range “bluetooth”• Supports Red Rapids card for soft radio Rx/Tx

VisSim Motion Block Set

• Motion Block Set - Preconstructed block set for motion control– Includes AC Induction– Brush and brushless DC– Stepper motors– Controllers– Rotational and translational loads.

VisSim/Real-Time

• Supports National Instruments and Measurement Systems

• Analog, digital, thermocouple, counter, PWM, encoder

• 30 kHz close loop sampling straight from Windows/NT,XP

• Just place block and select “Run in Real-Time” from Simulations Properties dialog.

VisSim Plays Well with Others

• OLE interface- allows inclusion of any OLE compliant software– VisSim - Mathcad OLE interface allows graphics

plus data exchange• VisSim - Matlab Integration allows matrix data

exchange and Matlab expression evaluation• Simulink Translator brings Simulink diagrams

into VisSim workspace.

VisSim Custom Block API• MSVC Wizard creates project for

custom block. Just drop in code.

• API allows:– Menu positioning– Block & connector naming and data typing– Code generation– Simulation info on integration method,

integration step, time step, current time etc.

VisSim Co-simulation API

• VisSim co-simulation API allows fast, efficient interprocess communication for co-simulation interfacing.

• Based on NT shared memory and Events• In use by iLogix Statemate• General purpose API

Large Model Support

• Load 300,000 block model in under 2 minutes• Embed blocks insert separate component

model files as subsystems• Path aliases allow macro expansion to remove

file system dependencies• Tags allow quick navigation in large system

VisSim Viewer• Free redistributable run-time version of VisSim• Allows licensed users to freely distribute

models to those who do not have VisSim development licenses

• Easy way to share ideas, models and simulations

• Supply proof-of-concept simulations to potential customers

Diagram Construction

• Insert block by selecting toolbar icon or menu item

• Change parameters by double or right mouse click on block

• Connect by mouse-down on connector, drag, mouse up on or near target connector

• Must have consumer to execute (Plot, display, export etc.)

Block manipulation

• Select blocks by left-mouse+drag background• Right click to operate on selected blocks• Edit menu also operates on selected blocks• Left-mouse+drag on selected block to move

group • Left click background to remove selection

Subsystem Properties

• Local Time – allows running at slower rate than main sim. Must be multiple of base clock for DSP targeting.

• External Trigger – Use external logic to control execution of subsystem.

• Name – Applies name to face of block• Bitmap- Applies bitmap image to face of block• Password protection – Use password to control

access to compound contents• Create dialog box from contained dialog constants

Interesting blocks

• “Dialog Constant” blocks allow users to create custom dialog boxes

• 1D,2D,3D table lookup with interpolation• Variables for “wireless” data transfer• Data file import/export (.csv,.txt,.m,.mat,.wav)

– Background timestamped event logging– Used in measurement & test– User control of log rate and operation

VisSim 7.0 – Released Jan 2008

• Improvements to core VisSim, ECD, OPC and RT• New blocks: 3D Plot, 3D Animation, VRML, Matrix

operations, random generators• New features: autosave interval, open last file, VML

(VisSim Matrix Language), • Printing enhanced• Bug fixes• PMD motion I/O card driver

Digital Filter Design Tools

• IIR Low Pass, High Pass, Band Stop– Butterworth, Bessel, elliptic,Chebyshev,Inverse Chebyshev– Floating point & fixed point– Continuous & Discrete– Z->S and S->Z domain conversion using Tustin (bilinear) transform

• FIR– Multi-band Remez exchange– Rectangular, Bartlett, Hamming, Hanning, Kaiser

Numerical Integration

• 9 different methods • Euler is simplest fastest, least accurate

method• Adaptive step are most accurate• Stiff good for solving stiff sets of equations (hi

freq component that has small amplitude)

VisSim Variables

• VisSim variables allow data exchange by name instead of by wire

Discrete systems

• 1/Z sampled delay - clock input• Discrete transfer function• Sample hold• Other blocks work with both continuous and

discrete systems• Compound block can be enabled, or run at

different sampling rate• Work with scaled fixed-point data

Optimization

• Built-in optimizer can find optimal system parameters by minimizing user defined cost– Use by inserting parameterUnknown blocks & at

least 1 cost block.• 3 built-in methods• API for optional user method• Addon method “Generalized Reduced

Gradient” provided by 3rd party

Matrix Operations

• All arithmetics (add,mul,div,gain etc)• Const block takes matrix syntax ([1:n],eye(n)

etc.• Unit delay, merge, plot, display all take matrix

operations• Matrix mul, buffer, dot product, vector sum,

diag, PSD, fft, ifft, transpose, reshape, index

VisSim/Embedded Controls Developer• Bundle of VisSim, C-Code, target support, TI

Digital Motor Control block-set , fixed-point block set, TI Code Composer Studio plug-in

• Supports MSP430, LF24xx, F281x, F280x on-chip peripherals: Analog in, PWM, CAN, encoder, event capture, serial, I2C, SPI, I/O ports, watch dog

Model-Based Embedded Target Support

• Low level support for Texas Instruments chips• Supports Linux and QNX• Support other targets and RTOS• No royalty on generated code• Addition of other hardware vendors like MicroChip,

ST, Infineon, Analog Devices etc is straight forward due to external API template used.

Model and Validate• Find and fix problems before codegen and target download

• Use high-level, pre-debugged

blocks

• Support simulation of controller at block level on PC

• Allow mouse probe of every input and output to display values at any instant

• Debug block-level simulation on PC

Debug and test• Rapid diagram edit-compile-download-debug cycle (under 10 secs)

Target Interface block Reads/writes data to MCU

PlantUnder

Control

• Target-in-loop simulation of controller at code level on DSP through automatic code generation, compile, link, and download, and using JTAG in “Real-Time Monitor” mode

• Test, debug, and validate the complete control system executing on DSP using an interface block

• Provide parameters and observe DSP results in VisSim on PC

VisSim blocks for:• Virtual plant• Interactive gains• Scope Plots of MCU data

VisSim on PC

C2000 MCU

ControlApplication

Code*

JTAG

* Code automatically generated, compiled, linked, and downloaded

On-Chip Peripherals

• All on-chip peripherals are supported including:ADC, digital inputs and outputsPWMs, quadrature encoderevent capture, watch dog, interrupt, CAN busserial port, SPI, I2C, McBSP

TI Digital Motor Control (DMC) Library

– hand-written, tested and optimized by TI – available in VisSim/ECD in easy-to-use block set– supports simulation mode (pure PC based

simulation with 16/32-bit truncation effects)– supports code generation mode– Speed/Flux Est., Park/Clarke xform, QEP speed

with filtering, Sliding Mode Observer rotor position estimator, space vector wave form generator

– ACI motor simulator

Demo: DC-DC buck converter

• Demo of TI F28044 based DC-DC buck converter.– Uses PWM to RLC to control voltage

• Control sample rate is 400KHz• CPU is 100 MHz• Demo shows use of “monitor buffers” to

acquire data at 400KHz and display in VisSim plot as digital scope.

VisSim Strengths

• Fast simulation – up to 10x faster than Simulink• Ease of use - many customer testimonials• Maturity and quality of code – low MTBF• Depth of features (real-time analog/digital I/O, analyze, OPC,

code-gen, CAN, 2D/3D plotting, 3D animation, filter design,state transition blocks)

• Fast code generation – within 5% of hand coded applications– Small code generation footprint – can fit closed loop controller

in 1.5KB flash/128 bytes RAM on MSP430 F2012

• Nimble – VisSim.exe only 3.5MB – total install 11MB • Open, documented API for custom block creation

Next step

• Download trial from www.vissim.com• Contact VisSim sales to determine training

and consulting needs