RT-LAB Quickstart Guide - Opal-RT
Contents
1. 14 PARAMETERS CONTROL eesese e hme hehe ttrt rnnr eese re re eese re ie ere eese sene nenas 14 PROBE CONTROL PANEL eeee I hene nemen ense natns ne nas 15 DATA ACQUISITION TRIGGERING eerte tette totes rannen raneren rnn 15 ACQUISITION AND TRANSMISSION PARAMETERS c cccccsscsscssesesescsscesesesessesesessssesssesessesesesestaveneees 16 3 RT LAB Quickstart Guide Opal RT Technologies ABOUT RT LAB HT LAB is a real time simulation platform for high fidelity plant simulation control system prototyping and embedded data acquisition and control Its unique distributed processing capability allows you to quickly convert your Simulink M 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 applications It runs on a networked PC configuration consisting of a Command or Host Station Target Host Computer Real time Link Node s Communication Links real time and Ethernet and 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 execut2. Start Server at Power Iw Lee Services 5 Click on the Start Stop Reread tab 6 Click on Stop Server and wait until server stops then click on Start Server to ensure that license is properly loaded Your license is now activated and fully operational You can close the LMTOOLS window and proceed to use RT LAB Firewalls and antivirus software can affect the installation process you may need to Allow each controller function individually as popup windows appear 7 RT LAB Quickstart Guide Opal RT Technologies 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 A 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 What s New provides links to the Opal RT website and to various trade articles and press releases f 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 Hemember that you can click on the Help menu
3. Choose a physical node DocTest2 Run in XHP mode Advanced Overview Development Execution Variables Hardware Simulation Tools 5 Load and Execute the model i basic example3 2 sc user interface File Edit View Simulation Format Tools Help Simple second order plant with PID control reference amp plant response adjust reference reference out OpComm control signal OpComm blacks 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 10095 HER T 58 361 Fixed StepDiscrete This transfers and runs the model on the specified target Select the model in the project explorer and click on the load button on the toolbar The simulation is transferring to the target which will be in Pause mode Execute the model by clicking on the execute buttonllE The simulation is now running on the target 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 11 RT LAB Quickstart Guide Opal RT Technologies Open and execute the console Project niei amp Open the generated console to display the simulation results 3 lt E
4. 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 to 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 RT LAB Quickstart Guide Opal RT Technologies 16 NOTES NOTES CONTACT Opal RT Corporate Headquarters 1751 Richardson Suite 2525 Montr al 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 O PA
5. Once you have installed RT LAB there is an icon displayed in the taskbar lower right hand corner of the Windows screen Simply double click the RT Lab icon shown to open RT LAB RT LAB Quickstart Guide Opal RT Technologies 6 License Server Setup Now that you have your software license you must load it in the software 1 Save the license file from the email received from Technical Support to the OPAL RT directory ex C OPAL RT LicServer 2 Open Windows Explorer and locate the license server file ex C OPAL ESAS 3 Double click on the LMTools file In the LMTools Misc images Name window click on the Config Services tab m 4 Click on Browse next to the Path to the license E E imard file field and select the path to the license file mm pex should look like this C OPAL RT LicServer Guyisine 8 ita Opallmd DEMO Opal RT F6E1 23 dec 2010 p ori s oallmd DEMO Onal RT 7074 16 dec 2010 i LMTOOLS by Acresso Software Inc File Edit Mode Help Service License File System Settings Utilities Start Stop Reeread Server Status Server Diags Contig Services Borrowing Save Service Remove Service Configure Service service Mame AT LAB License Server Path to the Imard exe file CAOPAL ATALicServerimgrd exe Browse Path to the license C OPAL RTSLicServer O pallmc_DEMO_Opal F Bron Path ta the debug log file C OpaltthLicServer 0 pallmd log Browse View Loa
6. RT LAB Quickstart Guide CONTENTS ABOUT RPFLAB 4 INTRODUC TION o 5 SOFTWARE 5 HARDWARE REQUIREMENTS emere nhnr enn rr nr ester trennen rrr essen 5 GETTING STARTED 6 OPEN BIT AB 6 LICENSE SERVER 7 EHE WELCOME SCREEN osorno a ee 8 MAIN RE LAB WINDOW ea een ee ae 8 TREE STRUCTURE ICONS eterne trt 8 Wiegi Nieo i 9 BASIC SETUP 10 CREATE A NEW TARGET NODE eene Hem nn nennen nn ne retener re nere rennes 10 CREATE New PROJECT WITH MODEL eee nemen mener nnne 10 BUILD THE MODEL a 10 ASSIGN SUBSYSTEMS TO TARGETS iii 11 LOAD AND EXECUTE THE MODEL ccccceceseececececeececuseueucuuauaueeeuuauausueauaeeeeavavaueeeavaueeeans 11 OPEN AND EXECUTE THE CONSOLE ceeeen e enhn emere inre re eese re re inre re nens 12 RESET THE MODE Loser ee re irrita 12 UNDERSTANDING RTDEMO1 13 OPpComm BEOCK e e o O A 13 STE Sri ii ocn 13 USING SIGNALS AND
7. e In the project explorer expand the tree below the model a piel Double click on the console name subsystem name beginning ee w3 localhost with SC MATLAB opens and displays the generated console DocTest e hen click on the play button inside Simulink to start the console The console is now receiving and sending data to the simulation 2 petuum sm master K _ _ gt ss slave To view the simulation results an oscilloscope simply double click the desired scope block in Simulink E z 2g control signall amp gmBlonnnbm eszesutuuu3s 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 RT LAB Quickstart Guide Opal RT Technologies UNDERSTANDING RTDEMO1 CHARACTERISTICS OpComm Block The 1 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 OpComm uM ans plant_respon de 1 control signal OpComm control signal Each subsystem must contain its own OpComm block as shown in the image below reference reference amp plant response plant response one adjust reference reference out control
8. in this example using sample model rtdemo1 e Click on the New button E and select New Project to open Er the new project wizard e e Enter a project name ex DocTest then click Next mu e Browse the template directory to select the model to add to the 2 project open the Basic folder and select rtdemo1 Simulink tem e Click Finish to create the new RT LAB project in the project 3 mo explorer p Build the model e Select the model in the project explorer Click the build lai button on the toolbar to start the compilation 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 10 Assign Subsystems 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 Subsystem settings Assignations Target utilities Set the properties of the subsystems and assign them to physical nodes Clean a target or embed a subsystem Subsystems Clean target Embedded Select subsystems to edit their properties Name Assigned node Platform XHP sm computation DocTest2 Redhat 7 OFF 1 subsystem selected sm computation Edit settings for selected subsystems
9. ES Indicates that the target is not responding not running guides can be found in the directory created when the software was installed 0 Help files and Cheat Sheets are available by clicking on the Help menu Installation and user OPAL RT RT LAB10 x x help pdf RT LAB Quickstart Guide Opal RT Technologies 8 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 5 1 E Xs LESE m New Provides access to New Project New Target New Model and Other windows Saves any changes made to the project model or target LT Assign Assigns the model to a target 9 O Loads the model and prepares it for execution Executes model 0 Pauses the model execution Hesets the model stops any current execution Take Snapshot Captures model states at current point and allows future simulations to start from that point Matlab Rxx Opens Matlab if more than one version is installed they will be listed in a drop down 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 14 to configure model parameters i
10. L RT QS10 29197 RT1 09 2010 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 other brand and product names are trademarks registered trademarks or service marks of their respective holders rights reserved
11. Probe Control Opens the Probe Control window see page 15 to configure data acquisition parameters Monitoring Viewer Opens the monitoring viewer to display processor activities len Scopeview Opens Scopeview to display and analyze waveforms 9 RT LAB Quickstart Guide Opal RT Technologies BASIC SETUP Create a New Target Node The first step is to create a new target node RT LAB Target fis amp New RT LAB Target Target name must be specified Click on the New button E and select New Target mmm Enter a name and the specific IP address for the IP Address Ping target all targets are shipped with a label affixed to the housing with the default IP address See your network administrator 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 pe hand directory structure rm mm wien Select the development node m right click on the target name and paste ev _ m select the Set as development Pee Ed B node option The model will be reren built on this target node Install always a good idea to ensure 2 that the target node runs the ee correct version of RT LAB simply Properies right click on the target name select Install and then select RT LAB Create a New Project with Model Now create a new project
12. signal OpComm control signal 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 other 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 13 RT LAB Quickstart Guide Opal RT Technologies USING SIGNALS AND PARAMETERS Signals in Simulink are the values exchanged between the various blocks RT LAB s SC subsystem 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 th
13. Parameters Table in the right hand portion of the window RT LAB Quickstart Guide Opal RT Technologies 14 Probe Control Panel The Probe Control Panel s lets you 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 Trig signal name Trig by value Trig by signal Condition Write to file Repetetive sampling 15 sets the name of the signal to be triggered specifies the value that must be reached by the trigger signal to trigger acquisition specifies a triggering signal instead of a constant value condition to be satisfied so that the acquisition system is triggered The different types of condition are e Rising or falling edge e Rising edge the threshold is crossed on a positive slope that is from below Probe Control 1 Console blocks group Group control 1 v Block Set Model selection rtdemo1 mdl Disconnect Basic step size 1 000 milliseconds Group 1 Monitoring Sampling Apply to all More infos Data acquisition triggering Trig signal name ea Trig by value Offset 0 steps Trig by signal a ES RISING OR FALLING EDGE vw File Name Variable Name Re arming delay 0000 milliseconds Acquisition and transmission parameters Decim
14. at any time to open the Cheat Sheets task oriented instructions option that can guide you through this process Tree Structure Icons 4 RT LAB File Edit Simulation Tools Window Help wi v v v Y 2 Y Project Explorer 3 m a rtdemo2 mdl 23 Li E 3 Overview s Ja Targets DocTest General Information Preparing and Compiling ae DocTest2 This section describes general information about this model To prepare and compile the model wal localhost Name rtdemo2 a Edit the diagram of the model 4 DocTest Setthe devel t ri Models Path C OPAL RT RT LAB10 0 0 workspace DocTest models ri OR File system State Loadable E ES m Consult result in the Compilation View 481 Assign targets to subsystems Executing To execute the model I Set the execution properties Load the model UB Execute the model 00 Pause the model Reset the model Open the Console to interact with this model Overview Development Execution Variables Files Assignation Diagnostic Hardware Simulation Tools Display or Compilation 4 Matlab View G Progress El Console E E Properties 42 Terminal a gt No consoles to display at this time Icon Description py d Indicates that the target circled platform letter is set as a development node Indicates the target s platform Q R Redhat W Windows
15. ation factor 1 Modifications Apply Apply to all Cancel Default Selection Signals Close Dutput value when no data available C Zero Condition Write to file Repetitive sampling Number of samples per signal 200 Duration Max number of 2500 samples per signal milliseconds Last value 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 saves acquisition group signals on the target node s hard drive rather than sending them to the Windows NT Console on the host computer Signals are saved in MATFILE version 4 using the name supplied in the FileName field 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 Acquisition and transmission parameters Dynamically sets a trigger on the acquisition group that are applied to OpComm blocks in the sc subsystem 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
16. d 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 Software updates are available from the OPAL RT website at http www opal rt com support 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 If you encounter any 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 R2006b and higher e Windows XP and higher HARDWARE REQUIREMENTS Opal HT simulator e Dedicated processor target PC 9 RT LAB Quickstart Guide Opal RT Technologies GETTING STARTED Before you begin using RT LAB you must obtain your software license Follow these simple instructions 1 Open your Web browser and go to the OPAL RT website www opal rt com 2 Click on Support and scroll down to Licenses then over and click on License Activation Support Request 3 The website now displays the Permanent License Activation Dices lt LUAM Win dow Return Merchandise RMA Es Knowledge Base License Migration 4 Fill in all the fields and click Submit You will receive your acus cu Contac
17. e 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 L Parameter Control Panel rtdemol mdl Model Path C OPAL RT RT LAB10 0 0 workspace DocT est Simulink Name rtdemol1 mdl Disconnect Parameters information Load Save View parameters H values H variables indexed parameters 14 14 0 Load Save gt gt lt lt Parameters tree Parameters table rtdemo1 Parameter Values Type Variable Blockname Path sm computation S Gain 20 0 Scalar Gain Kp sm computation Gain Kp Aor da x Gain 50 Scalar Gain Kd sm_computation Gain Kd Gain Kp Gain 1 0 Scalar sm computation Gainl Gain Integrator Gain Ki Appl pply Gaint Actuator response time Gain Integrator2 Variables table Variable Values Type 1 items added Close The Parameters Control panel 0 allows you to select model parameters 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 Click on Add to add the parameter to the table The parameters can now be edited in the
18. ion 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 simulation 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 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 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 rtdemo1 as the model it is not intended to be use
19. t Us v ofthe problem you are having ar backto you as soon as possible software license via email within 1 business day July 26th don t miss our _ complementary cocktail reception at IEEE PES General Meeting Click here to register OPAL RT TECHNOLOGIES A FROM IMAGINATION A Company v Downloads Support v Careers Contact Us v gt Products for All Industries Electrical amp Power Systems Permanent License Activation gt Aerospace amp Defense Please complete the following form to activate your Opal RT permanent software license gt Automotive For more information on Opal RT products orto arrange to speak with an Opal RT Sales Professional in your region cick gt Academic amp Educational here to contact us gt Hardware Salutation select gt Services Name f gt Test Drive E mail Company Name Country MAC address L MAC address is the physical address ofthe Ethernet board in the host computer laus x cone us To find it 1 Start gt Program gt Accessories gt Command prompt 2 Enter the following command ipconfig all without the quotes 3 Take note ofthe nic s physical address Physical Address 00 50 DA B9 DD DA Serial Number PDxxx ox To find it Please find the serial number on a sticker atthe back of your simulator Notes 9 2010 Opal RT Technologies Inc Privacy Contact Credits OPEN RT LAB
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