Real Time System Development & Speed Control of a Stepper
Contents
1. Palettes and select Sources at the top of the pop up window This will open another window with a group of source blocks Take the red clock on the Scicos diagram page Open the RTAI Lib palette in a similar way as before From the RTAI Lib palette take the Square block Scope block amp COMEDI D A block and place it in the main Scicos window Connect those blocks as in Fig 6 After drawing the Block diagram we should make the super block So we should go to menu Diagram and select Region to super block Cover al the blocks excluding the Clock and dragging the mouse i e we must draw an elastic frame around all the blocks as in Fig 6 and it will make the required super block Double clicking on the super block we can again open those basic blocks to set parameters as shown in Fig 7 3 Set parameters of Super blocks Square block Val O amplitude 1 Val 1 time Period 1 and Val 2 On time 0 5 amp leave other parameter to default value Comedi block Keep default value channel O Scope block Keep default value Close the window and set clock parameter ipali Fig 6 Making of RTAI Super block Ceyciges tcl RT Baii bem ean a CAP ieg iNi 55 Eup PAALIS ri z Log Irita peels zea Bare ghk Halar Eal Chk E bhii y eG Ta Ee u INTERNATIONAL JOURNAL OF ELECTRONICS amp COMMUNICATION TECHNOLOGY 99 JECT Vor 2 Issue 1 Marcy 2011 Fi2. Installation of RTAI During configuration of RTAI say yes to rtailib and COMEDI Support over LXRT 8 Installation of Scilab and RTAI add ons to Scilab Scicos After Scilab Installation we should add a line usr local src scilab 4 x x bin to the PATH variable in bash_profile and or bashrc or relevant shell start up file Add ons to Scilab Scicos is necessary to access RTAI and its library through scilab scicos environment First step cd lt rtai dir gt rtai lab scilab macros make install make user These above commands add command lines to Scilab startup file to access RTAI through Scicos 9 Creating shared memory inodes for the activation of RTAI and COMEDI Here we have to write a script and save it to home directory as directed in the RTAI Running this script in to the terminal required inodes can be created www iject org JECT Vo 2 Issue 1 Marcy 2011 10 Loading RTAI COMEDI and DAQ modules In this stage a set of kernel modules which are created in the user specified directory usr realtime COMEDI modules and DAQ modules is to load as directed in COMEDI guide Loading these modules the real time functionality is obtained 2 Creating block diagram for Square wave generation Open the TERMINAL and type scilab it will open scilab window and in the scilab window type Scicos and it will open untitled window Then open menu edit and Select palettes Go to
3. for RT operation In our experiments a COMEDI supported DAQ card PCI 1711 is taken to set the RT target Running the created RT executable in Matlab or in a Linux terminal the RT simulated signal is observed through a CRO and extended the work to generate RT control signal for a stepper motor www iject org ISSN 2230 7109 Online ISSN 2230 9543 Print ll Development System A Software First Solution 1 Operating system higher than Windows 98SE 2 Matlab version 6 3 Simulink 4 RTW 5 RTWT In this presented experiment Windows XP SP2 is taken as Operating System and Matlab 7 5 with Simulink RTW and RTWT packages as other software Second Solution 1 Operating System Functional GNU Linux environment experimented with Ubuntu 6 06 2 A Kernel it is necessary to ensure the best when the kernel version of the Linux OS is as close as possible to the kernel we are going to compile and to merge with the RTAI RTAI source code Scilab source code Scilab Scicos COMEDI and COMEDI LIB Two supporting source codes are required to install First one is Mesa 3D graphical library and second one is the EFLTK graphic widgets library Some software packages may have to upgrade and those are Automake autoconf bison for comedi cpp ftgl dev for efltk gcc g g gtk libbind libglu1 mesa dev libglut dev libfltk liogtk dev liobdrm dev lioncurses libperl dev mesa related
4. Fm Lag Lda Fig 8 RT target setting through xrtailab Interface p oa eaga Se cogan Fig 9 Square wave in the scope of xrtailab 1 00 INTERNATIONAL JOURNAL OF ELECTRONICS amp COMMUNICATION TECHNOLOGY ISSN 2230 7109 Online ISSN 2230 9543 Print Fig 10 Square wave in the Oscilloscop 5 Creating block diagram for Stepper motor controller As inthe previous section we made a block diagram to generate a RT square wave here we repeated the way and block diagram for stepper motor controller is created as shown in fig 11 Harl Hul j Tliis is aur kiksi cae a ai isal Mum hal Pani Say Ae SUAE e T Tuan e Square Fig 11 Block diagram for stepper motor driving cC Hardware Connections amp Driver electronics The schematic hardware connections are shown below VLNZEES Weipaiae Erepper Matar Fig 12 Schematic Hardware Circuit Diagram In the above Fig one opto isolator circuit is shown explicitly Four digital outputs from the DAQ card DO ports of the card are fed to the input of four opto isolator for safety purpose and the outputs of those are connected to pins 1 2 3 4 stepper motor driver ULN2003 Digital Ground of the DAQ card is connected to the Ground of the driver pin 8 Common of the unipolar stepper motor should be connected to pin 9 12V Supply and other four wires of the motor are connected as shown in Fig 2 IV Expe
5. JECT Vor 2 Issue 1 March 2011 ISSN 2230 7109 Online ISSN 2230 9543 Print Real Time System Development amp Speed Control of a Stepper Motor Using Commercial Soft Tools amp Open Source Codes Ujjwal Mondal 7Anindita Sengupta Electrical Engineering Dept Haldia Institute of Technology ICARE Complex WB India Electrical Engineering Dept Bengal Engineering amp Science University Howrah WB India Abstract The presented effort demonstrates in steps the ways of developing Real Time System using commercial soft tools first solution in Widows operating environment and using open source code tools second solution in Linux operating environment The commercial and free open source suite utilized and experienced with the real time speed control of a stepper motor First the experiment is composed by MATLAB with Real Time Workshop and Real Time Windows Target RTW RTWT very well known commercial soft tools for real time experimentation and next aS open source code tools SCILAB SCICOS with Real Time Application Interface RTAI amp and the COMEDI Control amp Measurement Device Interface are used for the same The most obvious advantage for the open source code tool is that all the software or codes are available on the web and it can be freely downloaded where commercial soft tools costs few lacks moreover in case of open source code tools freedom is unlimited as user can modify the open source codes for sp
6. Simulink Library Browser E Tuni BL i Liris tlocenfial cvaoigrini di g ii Pi Ti 1 la wanj Did Fig 1 Simulink Block diagram After creating block diagram model in Simulink we have to build a real time model Known as MEX file using Real Time Workshop in the Simulink Parameters dialog box but before making real time model we have to set few parameters to work with Real Time Windows Target which is discussed in the next section The MEX file interface module allows Simulink s External under simulation menu of the model mode to export new parameter values to the real time model and to retrieve signals from the real time model Generated code from the model can be targeted on special purpose hardware to provide a real time representation of the physical system 4 Parameter Setting Now the parameters of the Simulink blocks are set by double clicking the blocks as below Counter Limited upper limit 4 and sample time 0 02 Counter limited block looks like as shown below INTERNATIONAL JOURNAL OF ELECTRONICS amp COMMUNICATION TECHNOLOGY 97 JECT Vor 2 Issue 1 March 2011 Ta Source Block Parameters Counter Limited Counter Limited mask link This block i a counter that wraps back to zero after it has output the specihted upper limit The count is always initialized to zero The output is normally an unsigned integer of 8 16 or 32 bits The smallest number of bits needed to represent the upper
7. Then follow the steps below for running real time application From the Simulation menu select External From the Simulation menu select Connect to target From the Simulation menu select Start real time code To stop model execution select Stop real time code item under Simulation menu Now we can change the speed of the motor by opening Counter Limited block of the model and changing the upper limit of it Surprisingly the changing effect can be seen in real time i e on the fly when motor was running we can change parameter of the model B Second solution e Set the ON time of each signal equals to the one fourth of the Time Period i e TON 1 4 TON TOFF e Set Delay 3 TON forthe first signal Set Delay 2 TON for the second signal Set Delay 1 TON for the third signal Set Delay O for the fourth signal e Now to have variation in speed we may change the time period i e T TON TOFF and we can see respective change in the speed of the stepper motor Generated RT signal to drive the stepper motor is displayed in x rtailab which is shown in Fig 15 INTERNATIONAL JOURNAL OF ELECTRONICS amp COMMUNICATION TECHNOLOGY 1 01 JECT Vor 2 Issue 1 March 2011 f aro a j T i xp i d 7 Fig 16 Check out of RT square wave with LED Fig 17 Complete setup of the experiment V Conclusions The presented work envisaged to explore the possibility of de
8. all packages tcl8 4 tk8 4 tcl 8 4 dev tk8 4 dev tcllib 1 9 x11 proto Oo OS Wo B Hardware 1 A P4 or equivalent processor 2 Minimum 256MB RAM 3 Data Acquisition DAQ or I O card 4 Stepper motor 5 Driver electronics circuit In this presented experiment a PC with P4 processor with 512MB RAM PCI 1711 Advantech make DAQ card a unipolar stepper motor and a simple Stepper motor driving electronics Driver ULN2003 circuit is used C DAQ card specification as follows It is a PCI slot compatible card with 16x12 bit single ended analog inputs 2x12 bit analog output programmable gain 16 digital inputs and 16 digital outputs D Stepper motor specifications The stepper motor is taken from old floppy drive which is MSJE200A53 unipolar The specifications of the motor as follows Normal Voltage 12Volts Resistance 89ohms Wires 5 Steps Revolution 200 Stepsize 1 80 lll Development Process This section deals with the different steps to generate and communicate real time control signals to the external hardware through DAQ card using Matlab Simulink amp RTW RTWT and RTAI through Scilab Scicos with COMEDI A First Solution 1 Installation of Real Time Windows Target kernel At first we have to install RT kernel in Matlab to work with RTWT www iject org JECT Vo 2 Issue 1 Marcu 2011 The kernel enables the Real Time Windows Target to assign the highest priority of execution to real time executable
9. e compiled code within the RTWT environment The Kernel runs at Ring O highest priority in the Windows environment and supports single or multi tasking RTWT is actually a suite of software which permits a the execution of the controller codes in real time b manages its input amp output with the external world through an I O board and c manages communication with the Matlab Simulink parameter setting functions and display devices RTWT contains a set of target files that enables RTW to generate amp build a binary file for use in specific target environment In order to get real time operation using open source codes a standard kernel must be conFig in Linux base and before this configuration it will include the patching of Hardware Abstraction Layer HAL or Adaptive Domain Environment for Operating Systems ADEOS with the kernel After patching and configuring the kernel to make it real time compatible installation of the RTAI package must be carried out including rtai lab and COMEDI After this whole process a set of kernel modules are created in the user specified directory usr realtime Loading these modules the real time functionality is obtained In this stage keeping the entire previous configuration the RTAI package with rtai lab a module of RTAI and COMEDI can be access through Scilab Scilab Scicos gives the graphical user interface GUI to make RT simulation and as well as to generate codes and executable
10. ecific requirements but commercial soft tools do not open source codes for user modification i e freedom is limited However unlike the costly commercial packages the information available about this free software is scanty or sometimes confusing This paper attempts to remove some of the difficulties by tracing through the development steps and pitfalls The objectives of this paper are i to understand the concepts and practical aspects of using such software development tools ii to design simple experiments for students which will let them learn the design process and development life cycle for real time system and ili to compare the relative advantages of using public domain free software tools for the same purpose and making low cost laboratory set up for real time experimentation The investment is reduced to the hardware as well as in software cost which consists of a standard old PC and a RTWT amp COMEDI compatible data acquisition board commercial RT module for Lab experiment costs few Lacks approximately Successful implementation of the real time system development and deployment were demonstrated by a uni polar stepper motor control Sequencing in real time Keywords Real Time Control Systems Real Time Workshop Real Time Windows Target Real Time Application Interface Computer Aided Control System Design Control amp Measurement Device Interface I Introduction Rapid Controller Prototyping RCP requires two c
11. g 7 Inside of Super block Clock Set Period 0 001 and Init Time O Connect the analog output Channel O and analog ground of the signal acquisition card to a real Oscilloscope For example with the advantech PCI 1711 DAQ card connect pins 58 DACOOUT and 57 AOGND 4 RT square through X rtailab and Oscilloscope Now going to the RTAI menu select Set Target and click over super block Now we have to compile using RTAl Code gen again through menu RTAI If compilation is properly done then on the scilab prompt a group of information will come with the lat line Created Executable Say the new executable is renamed as rt_Square and saved in the current directory e In one terminal type rt_Square v to run the executable in Hard RTS mode with verbose output e In another terminal type xrtailab to open a GUI and from File menu select Connect and it will give the option to set the target as in Fig 8 amp Click on OK e Now we can see a square wavelike wave form on the Oscilloscope In xrtailab going to View select parameters and scope Now we can adjust visualization parameters in the xrtailab to see the Square wave properly in to the oscilloscope as shown in Fig 9 and Fig 10 a mip kina mai E 7e pr L 1 OG se Gg o geunrae ro LUT Lada PP et ia M O P aiies FTAs Task kere rere Parga bianik
12. ization and shared resources July 3 2001 7 Asad Davari Duoyan shen On line control of Real Time system using Matlab and simulink Electrical Engineering Department West Virginia university Institute of Technology Montgomery WV 8 A Cebi L Guvenc M Demircc C Kalpan Karadeniz K Kanar E Guraslan A Low Cost Portable Engine Electronic Control unit Hardware in the loop test system 9 P S Bimbra Electrical Machines Dhanpat Ral Publishers 10 Stephen L Campbell Jean Philippe Chancelier Ramine Nikoukhah Modeling and Simulation in Scilab Scicos Springer Berlin Germany 2006 11 Ramine Nikoukhah Serge Steer SCICOS A Dynamic System Builder and Simulator User s Guide 1998 12 Giovanni Racciu Paolo Mantegazza RTAI 3 3 User Manual 2006 13 G Sallet Ordinary differential equations with Scilab Universit e de Saint Louis INRIA Lorraine Universit e de Metz 2004 14 Pasi Sarolahti Real time application interface Technical report University of Helsinki Dept of Comp Science 15 R Bucher L Dozio CACSD with Linux RTAI and RTAI Lab in Real Time Linux Workshop Valencia 2003 16 RTAI Lab Tutorial Roberto Bucher 17 Simone Mannori Thomas Netter Scilab Scicos and Linux RTAI A unified approach R Bucher www iject org
13. limit i used Parameters Upper limit Sample time 0 02 Fig 2 Counter Limited Block Parameter Lookup table Main Vector of input values O 1 2 3 Table data 1 8 2 4 Lookup method use input nearest Sample time 0 02 Signal data types Output data type mode double Round integer calculations toward Floor Do not select saturate on integer overflow The blocks look like as shown in Fig 3 amp Fig 4 W Function Block Parmnelers Lookup lable Lewes Pafii 1 0 leat napala OF ipa vakai img the ipac table Eli pene a ill a Bn Lables bere bel san Signal Daia Tepes Yecla al diad veers U1 2 2 Tabia baia 1 AF dj Lonk up me re Ppt Pea el campis hina I for dette 0 02 oF Fig 3 Lookup Table Main Cancel w Function Block Parameters Lookup Tahle Lir Li Felgm 1 0 bey interpolation of input vaer ung Che ecified tane Ewtreacece ater bi Cote carpe e has bathe bounda he art Sere Daa pees Qutput data ype mode double I Bours mega caera lowest Fia Seturste on miega overllor Cancel Fig 4 Lookup Table Signal Data Type Digital output block sample time 0 02 output channels 1 channel mode byte initial value O final value 0 In the output channel box enter a channel vector that selects the digital output channels using on this board The vector can be any valid Matlab vector form Here we have selected first 8 channels by specifying
14. n Model Preemptible kernel Low Latency Desktop You might need High Memory Support 4GB if you use a PCMCIA data acquisition card Deselect Use register arguments EXPERIMENTAL Possibly deselect Local APIC support on uniprocessors e Power Management options Keep default e Bus options Leave the default e Device Drivers Generic driver options keep default Memory Technology Devices MTD not needed Parallel port Support unselect Parallel port support The standard parallel port is a useful device for real time debugging and experimenting We must leave it unselected so that Comedi s drivers can directly access the port Plug and Play support keep default Block devices select your devices ATA ATAPI MFM RLL Support select the main item ATA ATAPI MFM RLL support and all items relevant to your system SCSI device support select SCSI device support and keep the default selections according to your computer s SCSI devices Multi device support RAID and LVM Keep default Network device support keep defaults Amateur Radio IrDA Bluetooth ISDN subsystem and www iject org ISSN 2230 7109 Online ISSN 2230 9543 Print Telephony support Leave disabled Input device support Ensure that Mouse is selected Character devices Keep default 2C support keep unselected there are reports of difficulties when used with RTAI Multimedia device
15. omponents a Computer Aided Control System Design CACSD software and b a dedicated hardware with a hard real time operating environment First proposed solution in this paper is one of the most widespread RCP environments based on the commercial software Matlab Simulink Real Time Workshop RTW CACSD software which can be used to generate and compile codes for 96 INTERNATIONAL JOURNAL OF ELECTRONICS amp COMMUNICATION TECHNOLOGY different targets with the help of RTWT The main disadvantage of this solution is the cost of the required software The software for the second proposed solution can be freely downloaded from the web and thus cost effective It is based on Scilab Scicos and Linux RTAI a hard real time extension of the GNU Linux Operating System Dedicated hardware includes a PC and a data acquisition card PCI 1711 Advantech For experiment purpose a Stepper motor is taken whose specification is given in the part Il The RT environment allows quickly creating real time controllers for real plants by generating and compiling the full control application directly from the Matlab RTW RTWT or RTAI in Scilab Scicos scheme It is obvious to say that RTWT package in Matlab has the most powerful component called Kernel which is actually a miniature Real Time Operating System RTOS piggybacking onthe Windows The highly optimized real time Kernel provides real time extension for Windows and allows real time execution of th
16. output channel parameter as 1 98 INTERNATIONAL JOURNAL OF ELECTRONICS amp COMMUNICATION TECHNOLOGY ISSN 2230 7109 Online ISSN 2230 9543 Print and we can also specify it as 1 8 To use first four channels specify output channels parameter as 1 2 3 4 Initial value is the value before simulation to start and final value is the value after the simulation stops The block looks like as shown in Fig 5 Hlock Parameters Dipital Prit ROY CBee Cope tree fark emi Tie Aa Target Rm a it Gala 22ga bec cf racial Ae eed Dalla Bitra Ba Achebe Pli FA Pesto Goad eat Parmeter Ceres Liri oo eu rl Pree qa Lee reise tthe ii B Second Solution 1 Software development process in steps 1 Unpacking of kernel and RTAI source codes in the directory usr src in the installed Linux amp Patching of the HAL or ADEOS over the kernel under configuration 2 Configuring the kernel for real time application The kernel configuration e Code maturity level options select Prompt for development e General setup set Local version to rtai e Loadable module support select Enable module support Module unloading and Automatic module loading Deselect Module versioning Support RTAI modules are not version dependent e Processor type and features Select your Sub architecture Type PC Compatible and Processor family Select Preemptio
17. rimentation Control Strategy for stepper motor The speed of stepper motor can be controlled by varying the www iject org ISSN 2230 7109 Online ISSN 2230 9543 Print frequency of pulses applied to the motor The speed of the stepper motor increases with the increase in frequency of pulses applied to the motor The stepper motor inputs are sequential and so it is driven in three ways i e wave drive sequence full step sequence amp half step sequence For this experiment wave drive sequence is taken for its simplicity and shown in Table 1 Table 1 SEQUENCE NAME DESCRIPTION Consumes least power and gives smoother running of stepper motor Wave drive A First solution For Real Time experimentation we have to build real time executable codes To generate c code from Simulink block diagram we have to adjust the parameters shown below Tools Real time work shop options In Solver pane choose the parameters like this Start time O Stop time 100 Type Fixed step Solver ode 4 Runge Kutta Periodic sample time constraint unconstrained Fixed step size 0 01 Tasking mode for Periodic sample times Auto Then in Real Time Workshop pane choose the parameters as per following instruction System target file rtwin tlc Language C Choose Generate makefile The solver pane and the RTW configuration parameters windows look like as shown in Fig 13 and Fig 14 respectively gt Configera
18. s keep unselected Graphics support keep unselected Sound keep unselected USB Support preferably enable as module e File Systems Second extended fs support select Ext3 journaling file system support select it and Ext3 extended attributes Reiserfs support the Suse distribution uses it maybe your Linux distribution doesn t need it CD ROM DVD Filesystems select ISO 9660 and sub items DOS FAT NT Filesystems select as needed Keep other default selections 3 Compilation and Installation of the newly conFig kernel 4 Updating of the boot loader to access newly installed kernel Here we are adding new kernel not changing the settings of the old one This section gives an example to conFig the GRUB boot manager s configuration file named menu lst and usually located in boot grub in the old Linux The script we should add or write into the boot loader file below End Default Options is looks like below title rtai kernel 2 6 17 root hdO 3 kernel boot vmlinuz 2 6 1 7 root dev hda4 ro quiet splash initrd boot initrd img 2 6 17 savedefault boot Now we have to re boot the computer into newly compiled kernel and have to choose the new kernel from master boot record 5 Mesa and EFLIK installation It is required in the directory usr local to support xrtailab of RTAI 6 Installation of COMEDI and COMEDI LIB T Configuration compilation and
19. tion Piren neppen ia etre Sait galim re py am Sat ene fi pie i sa leper Fel Ce mer HNN JOP es imp ine Tee Reiza vie pool age tall Dist gabe z r SANA Sede epe me orci Eire J W fo sate aor Connecter kei ap aoe Ie aap Lie i imati Tehombhipmak rangle re i Hace Palina T Highs cacy wu inchs igre Lk coy Heese ined Baiti barile cent harila balaas ili Mode Setrercry a eal Ae ie Commerc Epik Cuira Late iTe iar mt ia Ho Code Boba Sting l p Bith i tect Re Fig 13 Real Time configuration parameters solver www iject org JECT VoL 2 Issue 1 Marcu 2011 dman Paraet seppa Nie lelie A Saiar EM ei Jn Sm opie E Fate Cait baa erat eee prus Lye L s Tepen kogn Her me krie pA Sage Ire t Vaii aein we Domeni C Eiran HTA aperi arreti y Doiii e a a Bold prot Fa ieee kyen hogs Feeereng TLL plone Fiat lee We ectag Heel uriyan oe sh m i A z Le Gee mE TEn Cone Cede Make coment mehi Deini mniam lem Hed ime TRDA ZAHL faba ierg erent oe onl Bad a imit M Cored He Fig 14 Real Time configuration parameters RTW Now in the command window of Matlab type rtwinconfigset modelname The above command sets the required parameters for work with Real Time Windows Target Go to Tools Real Time Workshop Build Model The above command builds the c code files from the Simulink block diagram
20. veloping ultra low cost experimental set ups for teaching and learning Real Time systems in the laboratory and at the 1 02 INTERNATIONAL JOURNAL OF ELECTRONICS amp COMMUNICATION TECHNOLOGY ISSN 2230 7109 Online ISSN 2230 9543 Print same time experiencing the usefulness of open source code tools compared to commercial soft tools The interface routine mentioned in this paper enables user to use any I O card accessible via Matlab or COMEDI for data I O in experimental environment It provides a simple and inexpensive way to set up hardware in the loop simulations and enhance laboratory experiments The objective is to compare the relative advantages or disadvantages of using public domain free soft tools has been explored through this paper with a suitable experiment References 1 Simulink Simulation Model Based Design version 6 Mathworks March 2006 2 Real Time Workshop For use with Simulink version 6 Mathworks March 2006 3 Real Time Windows Target For use with Real Time Workshop version 6 Mathworks October 2004 4 Data acquisition tool box vrsion 6 by Mathworks March 2006 5 A Gambier Real Time control system A tutorial Autamation Laboratory B6 23 29 E G Bautelc university of Mannheim 68131 Mannheim Germany 6 Warren E Dixon Darren M Dawson B I Costic Marcio S de Queiroz A Matlab based control system laboratory experiment for undergraduate students Towards Standard
21. which is created by the Real Time Workshop To install the kernel manually type rtwintgt install atthe Matlab prompt This will initiate the kernel To check that the Real Time Windows Target has correctly installed the kernel type rtwho at the Matlab prompt and it will show some information likely Real Time Windows Target version 1 00 C The MathWorks Inc MATLAB performance 100 0 Kernel timeslice period 1 ms 2 Installation of DAQ card Before installing a DAQ card we should verify whether the specific card is supported by Matlab RTW RTWT To find out names of supported cards first opening a new page from Simulink library browser a Digital Input or Output block is taken in the page Then double clicking it opened block parameters In the Block parameters there is an option Install new board Clicking over this option we can find out a list of all Supported cards by that Matlab version supports and selected the required one 3 Making of Simulink Block Diagram Simulink Block diagram is to make with Counter Limited block Lookup Table and Digital Output block as shown below Now save this model as modelname mdl in the current directory of Matlab Counter Limited block is taken from Simulink 110Sources Lookup Table is taken from Simulink gt Lookup Table 1 D Linear Interpolation of input values using the specified table and Digital Output block is taken from Real Time Windows Target of
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