VisSim for Dynamic Simulation and Model Based Control Design Visual Solutions, Inc. 487 Groton Road, Westford MA 01886 USA (800) VISSIM-1 www.vissim.com
Dec 26, 2015
VisSim for Dynamic Simulation and Model Based
Control Design
Visual Solutions, Inc.487 Groton Road, Westford MA 01886 USA
(800) VISSIM-1www.vissim.com
2
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