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DIGITAL COMPUTER SIMULATION OF CONTROL SYSTEMS
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FIGURE 34-14
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TUTSIM block diagram for Example 34.5.
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For Fig. 34.14, the data to be entered into the computer are
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1, PLS (Block 1 is a pulse generator, there are no inputs) 2, GAI, 1, - 4 (Block 2 is a gain block, inputs are from blocks 1 and - 4 ) 3, GAI, 2, - 4 (Block 3 is a gain block, inputs are from blocks 2 and - 4 ) 4, INT, 3 (Block 4 is an integrator, input is from block 3)
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Model parameters. The model parameters for each block to be entered into the
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computer are entered with the following format. Format : Block Number, parameter 1, parameter 2, . . . The number of parameters entered depends on the specific block. For Fig. 34.14, the parameter data take the form 1,0.0,3.0,1.0 2, 2.0 3, 0.5 4, 0.0 (The pulse starts at 0, ends at 3.0, and is of magnitude 1.0) (The gain is 2.0) (The gain is 0.5) (The initial condition on the integrator is 0)
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Plotblocks and ranges. In TUTSIM, one can plot up to four dependent variables,
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designated as Yl, Y2, Y3, and Y4, with a range specified for each variable. These variables appear on the vertical axis of the plot. One must also select the independent variable (usually time) on the horizontal axis, designated as HORIZ. Block 0 is reserved for a block that produces time. The choice of the variables and ranges is determined by the programmer. The format for this data is Format : Block number, minimum, maximum For Fig. 34.14, the following choices are made HORIZ: 0, 0.0, 3.0 Yl: 4, 0.0, 1.0 (Run varies from t = 0 to t = 3.0) (Yl represents output from block 4; range is from oto 1)
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Y2: Y3: Y4:
(Y2 not used) (Y3 not used) (Y4 not used)
Outputs Y2, Y3, and Y4 were not used in this example. liming Data. The timing data selects the step size and the length of the run, the format is Format : Delta time, Final time The step size of delta time must be chosen to fit the nature of the transient. The simulation starts at t = 0.0 and ends when t is equal to the final time. The ratio of final time/delta time determines the number of steps taken in the calculation and determines the number of points plotted. If this ratio is too small, numerical instability may occur because of inexact integrations. The TUTSIM manual recommends a ratio that is in the range of 500 to 5000. A summary of the data used in setting up the model can be listed by keyboard command. For the system under consideration, this summary is shown in Fig. 34.15. After the model is set up, it can be exercised by simple keyboard commands to produce numerical output and plots. The results for Fig. 34.14 using the data chosen is shown in Table 34.4 and Fig. 34.16. After the model is set up, one can change easily the structure, the parameters, the choice of plots, and the timing by keyboard commands.
Model F i l e : PCON.SIM Date : 2 / 2b / 1989 Time: LO : 24 Timing: o.oolJoooo ,DELTA PlotBlocks a n d S c a l e s : Format: BlockNo, Plot-UINimum, Aorz: 0.0000 0 I PL: 0.0000 g I Y2: I Y3: I Y4: I 0.0000 3.0000 ll.0000 2.0000 0.5000000 0.0000
FIGURE 34-15
(r.0000
,RANGE
, , I I I
Plot-MAXimum; Comment 3.0000 ; Time L.0000 ; ; , ;
II PLS 2 GA1 3 GA1 'i INT II 2 3 -Y -4
Summary of TUTSIM model for Example 34.5.
DIGITAL COMPUTER SIMULATION OF CONTROL SYSTEMS
TABLE 34.4
Numerical output for Example 34.5, using TUTSIM
Moael File: PCON.SIH 2b / L=lM Date: 2 / Time: 10 : 25 Timing: O.OOLOOOO ,DELTA ; 4.000 PlotBlocks and Scales: Format: Plot-HAXimua; BlockNo, Plot-HINimum, Eorz: 0.0000 , 3 .uooil 0 I Yl: 0.0000 , ll .uooo 9 I Pi : , I Y3: I # Y4: I I
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