RT-LAB Quickstart Guide - Opal-RT
Contents
1. RT LAB Quickstart Guide www OPAL RT COM CONTENTS ABOUT REL AD EE 4 INTRODUCTION BEE 5 SOFTWARE REOUIDEMENTSG KEEA AM EENE EEA EEENEKEInznzzznzzzzzzzznzzzzzni 5 HARDWARE REQUIREMENTS cccccccecceeeececeeececeeeeeseceeeeeeeeeeeeeeeeeeeeeaeeeeeneeeeeseneneeenens 5 GETTING STARTED de vacate soacsbeinsn nee e EDTA ee 6 OPEN FIL ee en eee eee 7 THE WELCOME SCREEN siccneconnincetconaaeencceateeaadasnninceiaieaddeaeinatnanaiacsntnactanncansaiaiensinieeueisaat 7 MAIN RT LAB WINDOW uuu cccccccccecececceeeecceeeeecececeeeeeeeeeeseceeeueeceeeeeeaeeeeeeeaeeeeenaaeeeeeeneneeenens 7 TREE STRUCTURE ICONS wueecessscssscssssesesescscsccescscssucecescesscsssussvacsusevsvacassucevsvacucesivavaceusevivaneetevitaseseatenes 7 USING THE TOOLBAR WE 8 Se RTE 9 CREATE A NEW TARGET NODE cccecceceececceccecsececcucueueeeceecsuseueuseusuueecseneueueeuseusueeesans 9 CREATE A NEW PROJECT WITH Mopgt ann nenn ann nnnnnnnnnnn nenn nennen 9 BULD THE Le E 9 ASSIGN SUBSYSTEMS TO TARGETS seeanennannunnunnnnnnnnnnnnnnunnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nennen 10 LOAD AND EXECUTE THE MODEL a gie i ee 10 OPEN AND EXECUTE THE CONSOLE nenne nun nnnnn ann nn nnnnnnnnnnnnnnnn nennen 11 RESET THE Mopp 11 UNDERSTANDING RTDEMO1 CHARACTERIGTICG ezz nn nn nn ent 12 JPC ONM BLOCK tai a ee E EEEIEE EEEO ESI 12 QUBSYSTEMS sia ti u a E e 12 USING SIGNALS AND PARAMETER ccccsssccccccssseececeeeeeeeeeeeeeeeeneeeeeeneuseeseneueeseneaeeees 13 PARAMETERS2. el dh e EE 13 PROBE CONTROL PANEL ccecceceeceececeececeeeeeeeeceeeueaueeeeueeeeeueuueeuauseueeueeeaesuusevaeegeeenenees 14 DATA ACQUISITION TRIGGERBING renen rernn ntr ar rannen nrnna enna 14 ACQUISITION AND TRANSMISSION PARAMETERS Se 15 3 RT LAB Quickstart Guide OPAL RT Technologies ABOUT RT LAB RT LAB is a real time simulation platform for high fidelitv plant simulation control svstem prototvping and embedded data acquisition and control Its unique distributed processing capability allows you to quickly convert your Simulink or Systembuild models to high speed real time simulations over one or more target PC processors HOW RT LAB WORKS RT LAB easily integrates Simulink or SystemBuild COMMAND STATION TARGET NODES models in real time simulations over one or more PC TCP IP processors particularly for Hardware in the Loop HIL gt applications It runs on a networked PC configuration ees consisting of a Command or Host Station Target Host Computer Real time Link Node s Communication Links real time and Ethernet and I O boards COMMAND STATION A Windows or RedHat PC on which the RT LAB software is installed that serves as the development system and user interface It allows users to prepare the model for distributed real time execution control the compilation and execution and interact with the simulation at run time TARGET NODE A PC or cluster of PCs where the simulation runs For real time sim
3. ate Available Templates B Api multirate2a ml rtdemol Simulink L 4B rtdemol SystemBuild 1 The development node is the target node on which the model will be built and executed 2 A project is simply the framework that will contain all the models required for the simulation RT LAB Quickstart Guide OPAL RT Technologies 9 Assign Subsvstems to targets e Open the Assignation tab e Assign a target node to the model subsystem s if a target other than the default development node is desired rtdemol mdl 3 5 Subsystem settings Assignations Target utilities Set the properties of the subsvstems and assign them to physical nodes Clean a target or embed a subsystem Subsystems Embedded Select subsystems to edit their properties Name Assignednode Platform XHP 2 sm_computation DocTest2 Redhat E OFF m 1 subsystem selected sm_computation Edit settings for selected subsystems Choose a physical node DocTest2 D F Run in XHP mode b Advanced Overview Development Execution Variables Fie soneton finese Hardware Simulation Tools Load and Execute the model i basic_example3_2 sc user interface File Edit View Simulation Format Tools Help Deus Se gt P se c m fot JNormal Die Simple second order plant with PID control reference amp plant response 4 one adjust reference reference out OpComm control signal OpComm
4. blocks are used to manage inter node communication All the inputs of top level subsystems must go through them See the user manual for more information Running 100 II T 58 361 FixedStepDiscrete This transfers and runs the model on the specified target Select the model in the project explorer and click on the load button L on the toolbar The simulation is transferring to the target which will be in Pause mode e Execute the model by clicking on the execute button The simulation is now running on the target mn NOTE the highlighted yellow text Automatically generated by RT LAB during compilation indicates that this model was generated by RT LAB which means that this is a running model When the model is generated played in Simulink this notice does not appear which means that the model is running offline RT LAB Quickstart Guide OPAL RT Technologies 10 Open and execute the console RS Project ae cp Open the generated console to displav the simulation results n 350 e In the project explorer expand the tree below the model name p nn e Double click on the console name subsystem name beginning g DocumentationTarget with SC MATLAB opens and displays the generated console u e Then click on the play button inside Simulink to start the console fz Models The console is now receiving and sending data to the simulation ST To view the simulation results on an oscilloscope simplv a mn double click the desi
5. changes made to the project model or target Builds the model menu to open a specific version Run Python script Records actions to be used as an automatic script written in Python ex repetitive actions can be recorded and performed automatically by the script See the Help Files and Cheat Sheets for details Parameters Control Opens the Parameters Control window see page 13 to configure model parameters Assign Assigns the model to a target al i i D Loads the model and prepares it for execution HW Executes the model I Pauses the model execution Resets the model stops any current execution Take Snapshot Captures model states at current point and allows future simulations to start from that point EJ Matlab Rxx Opens Matlab if more than one version is installed they will be listed in a drop down Probe Control Opens the Probe Control window see page 14 to configure data acquisition parameters Monitoring Viewer Opens the monitoring viewer to displav processor activities SG am oe Scopeview Opens Scopeview to display and analyze waveforms RT LAB Quickstart Guide OPAL RT Technologies BASIC SETUP Create a New Target Node The first step is to create a new target node Click on the New button E and select New Target Enter aname and the specific IP address for the target all targets are shipped with a label affixed to the housing with the default IP address See vour network administrat
6. er target nodes in the case of multi node systems e Acquisition groups can be defined for each OpComm blocks 3 RT LAB enables you to set different acquisition groups that group can include many parameters including the number of signals per frame to receive decimation factor etc These parameters can be defined separately for each signal using the Probe Control Panel RT LAB Quickstart Guide OPAL RT Technologies 12 USING SIGNALS AND PARAMETERS Signals in Simulink are the values exchanged between the various blocks RT LAB s SC subsvstem lets you send and receive signals from your model by wiring those signals to the SC subsystem which can then be displayed Parameters are values that are internal to a block These values are accessible from the block s mask displayed by double clicking on the block in Simulink RT LAB allows you to modify certain parameters while the model is running Use the RT LAB main Parameters Control and Probe Control panels to adjust model parameters and tune your view of the running simulation Parameters Control RS Parameter Control Panel rtdemol mdl Model Path C OPAL RT RT LAB10 0 0 workspace DocT est Simulink Name rtdemol mdl Disconnect Parameters information Load Save View parameters values variables indexed parameters 14 14 5 a Load Save gt gt d Parameters tree Paramet
7. ers table rtdemol Parameter Values Type Variable Blockname Path El sm_computation S Gain 20 0 Scalar Gain Kp sm computation Gain Kp Integrator3 ear z i Senser r spona lime Gain 5 0 Scalar Gain Kd sm_computation Gain Kd CG Gain Kp Clear All Gain 10 Scalar Gainl sm computation Gainl Gain z Integratori __ Edt Gain Ki Appl pplu Gain aw Gain Gain Kd Gain Actuator response time Variables table Gain Fi Integrator2 Variable Values Type 1 items added Close The Parameters Control panel CR allows you to select model parameters and change their values You can also use variables to define parameters allowing you to use the same parameter in many parts of the model and change its value in only one place e Select the desired parameters in the tree on the left e Click on Add to add the parameter to the table The parameters can now be edited in the Parameters Table in the right hand portion of the window 13 RT LAB Quickstart Guide OPAL RT Technologies Probe Control Panel The Probe Control Panel CR lets vou control acquisition and transmission of signals from the real time simulation to the user interface Changes to Probe Control settings will not affect model execution Data acquisition triggering f H Probe Control rtdemol mdl Trig signal name sets the name of the signal to be Dez aay tri g g ered Basic step size 1 000 milliseconds E ipi Group 1 Mon
8. hat s New provides links to the OPAL RT website and to various trade articles and press releases The Workbench icon top right hand of the screen closes the Welcome page and displays the RT LAB main page Clicking on this minimizes the Welcome toolbar to the lower right hand portion of the RT LAB screen MAIN RT LAB WINDOW The main RT LAB window allows you to manage all aspects of your simulation from within a simple directory tree structure Remember that you can click on the Help menu at any time to open the Cheat Sheets task oriented instructions option that can guide you through this process Tree Structure Icons Icon Description IE a Indicates that the target circled platform letter is set as a development node D RW Indicates the target s platform Q Qnx R Redhat W Windows jib Indicates that the target is not responding not running Help files and Cheat Sheets are available bv clicking on the Help menu Installation and user guides can be found in the OPAL RT directory created when the software was installed C OPAL RT RT LAB10 x x help pdf RT LAB Quickstart Guide OPAL RT Technologies USING THE TOOLBAR The main RT LAB screen provides a convenient toolbar that lets you perform functions with a simple click Here is a brief description of the available buttons D a OG Ar MB e e di P New Provides access to New Project New Target New Model and Other windows m Saves any
9. itoring Trig by value specifies the value that must be ale reached by the trigger signal to Data zequistiontiggeing Pause eae Iw Trig signal name REES kd trigger acquisition ji Trig by value 0 Offset 0 steps Trig by si ifi tri i instead Trig by signal ES Q DV signal species a triggering signal Inste a TE on ition RISING OR FALLING EDGE v of a constant value Condit RISING OR FALLING EDGE MA IV write to file File Name Apply to all Condition condition to be satisfied so that the Variable Name Cancel acquisition system is triggered The Repetitive sampling Re aming delay 0 000 milliseconds Defaut diffe rent typ es of con diti on are Acquisition and transmission parameters Selection DMA Number of i Decimation factor 1 G samples gt 00 Signals signal Max number of Durati 3 2500 uration 200 000 Close samples per signal C milliseconds e Rising or falling edge e Rising edge the threshold is SA Console blocks on group Group control Dutput value when no data available crossed ona positive slope that MES V Block Set C Zero Last value is from below EET rm e Falling edge the threshold is crossed on a negative slope that is from above e Trigger signal gt trigger level e Trigger signal lt trigger level Write to file saves acquisition group signals on the target node s hard drive rather than sending them to the Windows NT Console on the host com
10. o obtain optimal results particularly when using synchronized execution modes The total number of data points is equal to the number of samples per signal x the number of signals 15 RT LAB Quickstart Guide OPAL RT Technologies CONTACT OPAL RT Corporate Headquarters 1751 Richardson Suite 2525 Montreal Qu bec Canada H3K 1G6 Tel 514 935 2323 Toll free 1 877 935 2323 Technical Services www OPAL RT com support Note While every effort has been made to ensure accuracy in this publication no responsibility can be accepted for errors or omissions Data may change as well as legislation and you are strongly advised to obtain copies of the most recently issued regulations standards and guidelines This publication is not intended to form the basis of a contract jix EA OPAL RT QR13 10066 RT1 05 2013 OPAL RT Technologies Inc MATLAB Simulink and Real Time Workshop are trademarks of The Mathworks Inc LabVIEW MATRIXx SystemBuild and AutoCode are trademarks of National Instruments Inc QNX is a trademark of QNX Software Systems Ltd FireWire is a trademark of Apple Corporation Inc RedHawk is a trademark of Concurrent Corp All other brand and product names are trademarks registered trademarks or service marks of their respective holders All rights reserved
11. or to obtain a different IP address Click on Ping to ensure that the target is available and click Finish when ping is complete The New Target window closes and the target now appears in the left hand directory structure Select the development node right click on the target name and select the Set as onen BEER option The model will be built on jana this target node Copy Ctrl C It is always a good idea to ensure fi Paste Cun that the target node runs the an correct version of RT LAB simply reren right click on the target name Install select Install and then select oe RT LA B Set as development node Properties Alt Enter Create a New Project with Model Now create a new project in this example using sample model rtdemo1 Click on the New button ri and select New Project to open RT LAB Project the new project wizard Enter a project name ex DocTest then click Next Browse the template directory to select the model to add to the lt 3 5 project open the Basic folder and select rtdemo1 Simulink Click Finish to create the new RT LAB project in the project explorer Build the model e Select the model in the project explorer Click the build 5 button on the toolbar to start the compilation an S New RT LAB Target RT LAB Target Target name must be specified Name IP Address Si New RT LAB Project Select a templ
12. puter Signals are saved in MATFILE version 4 using the name supplied in the FileName field Repetetive sampling enables you to choose repetitive automated sampling or non repetitive manual control sampling If you choose non repetitive the Re arm button enables you to manually re arm data acquisition RT LAB Quickstart Guide OPAL RT Technologies 14 Acquisition and transmission parameters Dvnamicallv sets a trigger on the acquisition group that are applied to OpComm blocks in the sc subsvstem Data will be acquired only when the specified signal is triggered The trigger is defined using the following fields Click on Signals to open the Dynamic Signal Selection window and configure the Acquisition Group The following settings determine how much data will be gathered before it is sent to the command station Decimation factor determines the data acquisition frequency on the computation node Max number of determines the size of the acquisition window per signal number of data points samples per signal gathered in buffer before sending Duration determines the acquisition duration in milliseconds Decimation Factor 1 Decimation Factor 2 With a decimation factor of 1 or a timestep of 1 ms you are able to capture all simulation data providing a better overview With a decimation factor of 2 there is a risk of missing parts or all of a range of data as shown above These settings may require repeated adjustments t
13. red scope block in Simulink emeng i DI control signall 8 52 ABB SA Reset the Model Stop the simulation and reset the model running on the target e Click on the reset button on the toolbar to stop the simulation on the target 11 RT LAB Quickstart Guide OPAL RT Technologies UNDERSTANDING RTDEMO1 CHARACTERISTICS OpComm Block The rtdemo1 model used throughout this guide contains basic Simulink blocks and a critical custom block OpComm OPAL RT has designed the OpComm block to enable communication between the Command Station and Target s in a distributed simulation reference reference amp plant response e V plant res pong Acq 1 control signal Gpcomm control signal Each subsystem must contain its own OpComm block as shown in the image below reference reference amp plant response plant_response adjust reference reference_out control_signal OpComm Subsystems Models contain top level subsystems master SM slave SS and console SC subsystems for computations All inputs to top level subsystems must first go through an OpComm block before they can be used by RI LAB In the computation subsystems SM or SS e One OpComm receives real time synchronized from other computation subsystems e One OpComm receives signals asynchronously from the console subsystem In the console subsystem SC subsystem e One or more OpComm blocks may be inserted to receive signals from oth
14. the target and click Next A confirmation screen appears o License Activation for Target Target 127 E Request Form Please fill in the license request form Salutation Name Email Company Name Country Denise Lefebvre denise lefebvre opal rt com OPAL RT Canada Target Number ex PD012 012 501 PFO00 000 501 The Target Number is on a sticker on the back of the simulator Comment optional Finish Cancel 3 Ifthe information is correct click Finish to submit the license request You will receive your software license via email 4 When you receive the license file save it in the OPAL RT directory ex C OPAL RT LicServer then open RI LAB select the target right click it and select Install License RT LAB Quickstart Guide OPAL RT Technologies OPEN RT LAB Once vou have installed RT LAB there is an icon displaved in the taskbar lower right hand corner of the Windows screen Simplv double click the RT Lab icon shown to open RT LAB e TOM THE WELCOME SCREEN The first time you open RT LAB the first screen is the welcome screen The screen displays 3 icons Overview Tutorials and What s New Icon Description Overview provides access to the RT LAB user manual Tutorials provides access to 3 different tutorial subjects Create a new project using a template model Add an existing model to a project and Six steps to Real Time W
15. tp www OPAL RT com downloads Clicking on the Software name and version will display the MATLAB and other applicable third party software versions supported by the latest OPAL RT software update bg Software updates are available from the OPAL RT website at If vou encounter anv difficulties not resolved through this document please contact OPAL RT Technical Support The OPAL RT Team www OPAL RT com support support request Tel 1 514 935 2323 8 30am to 5 30pm EST DST Toll free 1 877 935 2323 SOFTWARE REQUIREMENTS e MATLAB R2007b and higher e Windows XP and higher HARDWARE REQUIREMENTS e OPAL RT simulator e Dedicated processor target PC 5 RT LAB Quickstart Guide OPAL RT Technologies GETTING STARTED RT LAB licenses are now issued for targets rather than command stations Therefore before you begin using RI LAB you must load any and all targets and obtain your software license Follow these simple instructions 1 Click to select the desired target then right click and select Request a License this opens a license request form Paste Delete Rename 2 Refresh Tools License Install Execute Set as development node Properties Ctrl C Ctrl V Delete F2 F5 B Request a license Mfistall a license a IT Alt Enter 2 Fill in the license request form the target number should automatically appear if it does not refer to the sticker on the back of
16. ulation this requires a Real Time Operating System RTOS such as QNX or RedHat Real Time Linux The Command Station communicates with Target Node s using Ethernet and the Target Node s communicate with each other using real time data links such as IEEE 1394 Firewire at 800 Mbits s or PCI Express Dolphin Communication fabric at 20 Gbits s For Hardware in the Loop simulations Target Nodes connect to the real world through I O boards analog and or digital and record data at high speed on their local hard drives if required Each target node can contain one or two processor chips that are compatible with Intel or x86 standards and with shared memory communications Each processor can then contain a one two four or six Processor core Target System Includes several target computers Target Computer Includes several processor nodes RT LAB Quickstart Guide OPAL RT Technologies 4 INTRODUCTION Now that you have successfully installed your RT LAB software following the instructions provided in the RT LAB Installation Guide C OPAL RT RT LAB10 x x help pdf RT LAB_IG you will need to be up and running quickly This Quickstart Guide is intended to guide you through the process of setting up your simulation using rtdemof as the model it is not intended to be used for detailed training or advanced use If you require more detailed or advanced procedures consult either the User Manual or the Cheat Sheets provided in the Help Files ht
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