1 Clément DAVID & Yann COLLETTE The Scilab Consortium Xcos Hybrid dynamic systems modeler and simulator 16 th june 2010
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Clément DAVID &Yann COLLETTE
The Scilab Consortium
XcosHybrid dynamic systems modeler and
simulator
16th june 2010
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● Internal Scilab module
Freely available with Scilab (free and open platform for numerical computation)
● Purposes
Hybrid dynamic systems modeler and simulator
Using functional black-boxes and data/event links
Xcos: Introduction
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Xcos: Features
● Graphically model, compile, and simulate dynamical systems
Combine continuous and discrete-time behaviors in the same model
Select model elements from Palettes of standard blocks
Program new blocks in C, Fortran, or Scilab Language
● Use standards
HDF5 standard which has been chosen to guarantee data exchanges between Scilab and Xcos Editor
A free Modelica compiler which enables the simulation of implicit diagrams
A brand new graphical user interface based on JGraphX
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Xcos: Overview
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Xcos: Overview
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Xcos: Overview
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Xcos: Overview
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Xcos: Overview
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Xcos: Overview
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Xcos: Overview
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Xcos: Overview
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Xcos: A simple block (1)
● Data links and data ports
Data communication is handled by data ports and data links (in black)
● Event links and event ports (discrete time)
Activation and control is performed through event ports and links (in red).
Xcos blockInputs Outputs
Controls
Commands
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Xcos: A simple block (2)
● An interface function (Scilab macro)
Used to configure the block when editing the diagram
● A functional implementation
Used to simulate the block in the simulation engine
Inputs Outputs
Controls
Commands
parametersmanagement
BLOCK.sci
runtime evaluationfunction
block.c
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Xcos editor
Scicos compiler
ScilabScicos
simulatorCode
generation
● Java-based diagram editor● Ergonomic● Run in parallel with Scilab interpreter● Backward compatibility
Xcos: the new editor
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Xcos: Reusing Scilab quality process
● Available in nightly builds
● Integrated in Scilab roadmap
● Use Scilab development flow● Git revision system● Code review● Automatic nightly validation
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Demo time,
any questions ?
www.scilab.org
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ScilabTec 2010
Optimization of a PID regulator
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Optimization of a PID regulator
The content of the xcos context:
if ~exists('w0') then w0 = 2*%pi*100; endif ~exists('K0') then K0 = 0.01; endif ~exists('m') then m = 0.5; endif ~exists('P') then P = 1; endif ~exists('I') then I = 1; endblock_output('values') = zeros(2000,2);block_output('times') = zeros(2000,1);
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Optimization of a PID regulator
importXcosDiagram('automatic_test.xcos');
function y = f_pid(x)context.w0 = w0;context.m = m;context.K0 = K0;context.P = x(1)*Pfact;context.I = x(2)*Ifact;Info = scicos_simulate(scs_m,list(),context,flag='nw');y_error = mean(abs((block_output('values')(:,1) - block_output('values')(:,2))));y_diff = mean(abs(diff(block_output('values')(:,2))));y = 0.5*y_error + 0.5*1*y_diff; .
endfunction
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Optimization of a PID regulator
Before optimization After optimization
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Demo time,
any questions ?
www.scilab.org
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ScilabTec 2010
Programming new blocks
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Definition of a new C blockGoal:Store N samples of the input in a bufferOuput the buffer as a vector output of size N
Parameters:Padding value (real parameter - rpar)Buffer size (int parameter - ipar)
We will first interface our block through a GENERIC block (In the user defined palette).
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0,50
-0,5-1
-0,50
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Buffer size
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Definition of a new C blockThe simulation function side
#include "scicos_block4.h"
void buffer_vect_xcos(scicos_block *block, int flag){ int nsamples = GetIparPtrs(block)[0]; double padding_value = GetRparPtrs(block)[0];
switch(flag) {
case Initialization: GetWorkPtrs(block) = (double *)MALLOC(sizeof(double)*nsamples); for(int i=0;i<nsamples;i++) ((double *)GetWorkPtrs(block))[i] = padding_value; break;
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case StateUpdate: for(int i=1;i<nsamples;i++) ((double *)GetWorkPtrs(block))[i-1] = ((double *)GetWorkPtrs(block))[i]; ((double *)GetWorkPtrs(block))[nsamples-1] = ((double *)GetInPortRows(block,1))[0]; break;
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1 – Initialization2 – Simulation finalization3 – Update block internal state4 – Put the value on the output port
case Ending: FREE(GetWorkPtrs(block)); break;
case OutputUpdate: for(int i=0;i<nsamples;i++) ((double *)GetOutPortPtrs(block,1))[i] = ((double *)GetWorkPtrs(block))[i]; break;
} }
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Definition of a new C blockThe interface function side (1/2)
function [x,y,typ]=BUFFERVECT_c(job,arg1,arg2)...select jobcase 'plot' then standard_draw(arg1)case 'getinputs' then [x,y,typ] = standard_inputs(arg1)case 'getoutputs' then [x,y,typ] = standard_outputs(arg1)case 'getorigin' then [x,y] = standard_origin(arg1)case 'set' then
case 'define' then
endendfunction
A
B
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Definition of a new C blockThe interface function side (2/2)
case 'define' then buf_size = 1; pad_val = 0.0;
model = scicos_model(); model.sim = list('buffer_vect',4); model.in = 1; model.in2 = 1; model.intyp = 1; model.outtyp = 1; model.out = buf_size; model.out2 = 1; model.evtin = 1; model.ipar = [buf_size]; model.rpar = [pad_val]; model.blocktype = 'd'; model.dep_ut = [%t %f];
label = string([buf_size; pad_val]); ...end
case 'set' then … while %t do
[ok,buf_size,pad_val,exprs] = scicos_getvalue('Set parameters Block',..
['Buffer size';'Padding value'], list('vec',1,'vec',1), label);
if ~ok then break, end if (buf_size<1) message ...
if ok then In = [model.in model.in2]; [model,graphics,ok] = set_io(model, Graphics, list(in,1), list(in,1),1,[]); if ok then graphics.exprs = label; model.ipar = [buf_size]; model.rpar = [pad_val]; … break; end end
end
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The FFT scope
Some more custom blocks
Signal 1
Signal 2
This block is not yet available under Scilab.(Scilab 5.3)
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External module hierarchyXcosMod
builder.sceEtc
XcosMod.startXcosMod.quit
macroshelp
en_USfr_FR
sci_gatewayCCppFfortran
srcCCppFortran
testsunit_testsnonreg_tests
Building the blocks and build the palette
Loading macros, libs, gateways and adding the palette to xcos
The interfacing functions of the blocks + others functions
The simulation functions of the blocks + other functions
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Palette loading process
// Build xcos palette// =========================================================
xpal = xcosPal("Buffer");xpal = xcosPalAddBlock(xpal, 'FFT_SCOPE', module_dir + '/macros/img/fft_scope.jpg');xpal = xcosPalAddBlock(xpal, 'PS_SCOPE', module_dir + '/macros/img/ps_scope.jpg');xpal = xcosPalAddBlock(xpal, 'VECTOR_SCOPE', module_dir + '/macros/img/vector_scope.jpg');xpal = xcosPalAddBlock(xpal, 'BUFFER_VECT', module_dir + '/macros/img/buffer_vect.jpg');xpal = xcosPalAddBlock(xpal, 'REAL_FFT', module_dir + '/macros/img/real_fft.jpg');xpal = xcosPalAddBlock(xpal, 'INVERSE_FFT', module_dir + '/macros/img/inverse_fft.jpg');xpal = xcosPalAddBlock(xpal, 'WINDOW_FUNC', module_dir + '/macros/img/window_func.jpg');
xcosPalExport(xpal, module_dir + '/Buffer.xpal');
// load palette// ======================================
xcosPalAdd(module_dir + '/Buffer.xpal');
A part of XcosMod/builder.sce
A part of XcosMod/etc/XcosMod.start
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Demo time,
any questions ?
www.scilab.org
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Thanks for your attention,
any questions ?
www.scilab.org
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