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User Manual - SimApp - Dynamic Simulation Made Easy

1. Input O Buesser Engineering 108 SimApp Catalog Converters Quantizer 13 7 5 Quantizer The output signal of a quantizer can assume integer values only that are a multiples of an integer value It follows a ramp by creating a step function The step size depends on the selected range and the resolution Example For a range of 16 and a resolution of 3 bits the step size amounts to q 16 243 2 The selected range however does not limit the output signal as it is only used for step size computation The quantizer can be used for simulating digital systems where only discrete values can occur The discrete time elements themselves do not quantize the signal they only sample and compute the signal at discrete times Example 3 bit quantizer Rai 16 ssessesecens ese e eee eee a 14 Het Er EE ee nn ae Quantizer t Step Schritt 2 A se AAN AAA dps bd ii se Res 8 Bit Ra 10 oo po Quantization error 1 Quantisierungsfehler 1 Buesser Engineering 109 SimApp Catalog Logic GND Ground logic 0 false 13 8 Logic Logic elements perform Boolean operations with binary and logical signals In SimApp there is no difference between logic and analog signals Logic elements can be supplied by output signals of analog elements and vice versa Input signals lower than the logic threshold are interpreted as low logic O or false whereas signals being greater than the logic thre
2. ro 1 0 0 0 0 0 1 0 0 Xkat E a E Uk 1 a aj a3 A A Ye by atb bj aib ee ea 13 6 10 Discrete time filter z Filter As the powers in the transfer function are negative this elements has not the restrictions of the G z ele ment The orders of numerator and denominator can be freely selected The law of causality does not apply here Functions zF ilter z Filter 1 m m Gej ee ee K Po b z b Z av aZ 9 Z 3 oe i ag aZ a 2 Ts 0 1 s Ts 0 1 s es bO 1 a0 1 bo 1 a0 1 m lt 31 n lt 31 Buesser Engineering 104 SimApp Catalog Discrete time transfer elements Linear difference equation system 13 6 11 Linear difference equation system SimApp lets you model linear and time invariant difference equation systems in State Space format This representation is particularly useful for models with a lot of interactions and for advanced control applica tions This element is the counterpart to the analog implementation Note that the coefficients used in the differ ence equation system are NOT the same as for the analog implementation Vector form LDS System matrix equation x AX Bu Output matrix equation y Cx Du where x x kT Ts 0 1 s The system consists of n states p input quantities and q output quantities Xk State vector n x 1 LDS Ux Input vector p x 1 A Output vector q x 1 y A System matrix n x n B Input m
3. For frequency simulations T where g simulation stop frequency set by user or 1000 T T 100 depending on which value is smaller Buesser Engineering 60 SimApp Catalog Linear elements Derivative lag element DT1 13 2 5 Derivative lag element DT The DT Element is the combination of an ideal derivative and a first order lag element lts step response is strongly damped and so limited in size and the settling time is significantly increased Functions Step response t y Ty Tol ht 26 5 T h t T DT1 G s 2 o t TD 1s T1 0 1 s a 1 t T Magnitude and phase response Polar plot Al O Buesser Engineering 61 SimApp Catalog Linear elements First order lag element PT1 13 2 6 First order lag element PT1 The PT1 element has one internal energy store Therefore it cannot follow a step instantaneously The out put signal is strongly smoothed The damping is so strong that an overshoot cannot occur After a long time the step response follows proportionally the input signal Functions Step response Ty y Ku h t K 1 e h t A G s K Kr REE l PT1 S 1 Ts PT gt K 1 T1s Magnitude and phase response Polar plot Buesser Engineering 62 SimApp Catalog Linear elements Second order lag element PT2 13 2 7 Second order lag element PT2 The PT element contains two independent energy st
4. SimApp User Manual Introduction Technical support 1 4 Technical support If you have problems or questions first use this manual or the online help Additional support is available through support contracts If you need more information email us at support simapp com Please do not hesitate to contact us if you have any questions suggestions or criticism We pride ourselves in our customer care Do not forget to visit our website regularly There you will find the latest information about SimApp www simapp com As a registered user you can always freely download the latest release of your SimApp version Use your username and password received on purchasing Our address for mailed letters Buesser Engineering Wacht 28 CH 8630 Rueti ZH Switzerland Buesser Engineering 2 SimApp User Manual Installation License terms 2 Installation 2 1 License terms Before installing SimApp please carefully read the license terms at the beginning of this manual and check if you agree Please note Technical programs have only a limited user community and they are costly to develop and support By licensing your product properly you will motivate us to constantly improve the product and adapt it to your evolving needs Please help us in that task 2 2 System requirements SimApp runs on Windows 2000 XP and Vista and has no special system prerequisites But for long and high resolution simulations it is preferable to
5. 3 3 4 Library toolbars Library toolbars see chapter libraries are user configurable and can be saved on disk They are primarily dedicated as containers for custom blocks but you can also store shapes text and any kind of object groups Library toolbars are the visual representation of object libraries They behave like common toolbars with buttons to select the objects for insertion in your drawings Open libraries with the menu command Ex tras Library Open 3 4 Status bar The status bar is at the bottom of the SimApp main window lt displays information about the current drawing state Object position Cursor position Object name Object size lr 16 12 6 99 cm Second order lag element 10 55 2 18cm IC 1 10 2 26cm Figure 3 Status bar 3 5 Error bar The error bar flashes in red if an error is encountered It has a brief error message The lines in the error bar may be associated with the block where the error occurred Some errors may al low you to find the block where the error occurred by clicking the error message O Buesser Engineering 5 SimApp User Manual Introductory Example Launch SimApp 4 Introductory Example This chapter contains a small project to demonstrate step by step creation of a block diagram and the simu lation of the time and frequency responses More advanced features are described in the next chapters 4 1 Launch SimApp Locate the SimApp icon in the Windows program f
6. ing Reset the ramp is reset to the initial value The ramp stops if it has reached the limit and the output Q is set If the limit signal is changed the output Q is cleared and the ramp again approaches the new value of the limit signal on every clock edge By changing the limit signal the slope of the ramp can be changed at full speed YO Step ramp dY 1 O Buesser Engineering 119 SimApp Catalog Special Transmitter and Receiver 13 10 Special 13 10 1 Transmitter and Receiver By means of transmitter receiver pairs you can build block diagrams which are more clearly Instead of a direct visual connection of two blocks you can use a wireless transmission The connection is established by a common name which must be unique in the drawing Two or more transmitters having the same name form a short circuit A transmitter however can transmit a signal to more than on receiver if all have the same name It is also possible to transmit signals out of custom blocks without using nodes But this is recommended for testing purposes only as the transmitter is not visible from outside and can get forgotten Example One transmitter and two receiver blocks with the name Trans Trans N N Send Buesser Engineering 120 SimApp Bibliography 14 Bibliography Deutsch 1 2 3 F llinger Otto Regelungstechnik H thig Verlag Heidelberg 1994 Orlowski Peter Praktische Regeltechnik Springer Ver
7. connect the group number to an external parameter O Buesser Engineering 42 SimApp User Manual Custom Blocks Creating custom blocks in the block folder 10 2 6 Formula editor The inner parameters have fixed values that cannot be changed in the finished block or they are related to external parameters and can be changed indirectly The relationship can be very simple For example you could determine that an inner parameter always has the same value as the external parameter But you can establish much more complex relationships The formulas are entered in the parameter properties dialog box of the inner blocks If you check the button for the formula the actual parameter value is calculated by the formula and the ex ternal parameter values In the background works a formula interpreter The formulas are entered as plain text that must comply with special rules All the functions operators and constants you can use are listed below Function Description dos J Addition Subtraction Multiplication Division Power Faculty sin Sine Radiant cos Cosine Radiant tan Tangent Radiant arcsin Arcsine Radiant arccos Arccosine Radiant arctan Arctangent Radiant In Natural Logarithm log Decade Logarithm exp Exponential sqr _ Square sqrt _ Square root int Integer part frac Fractional part abs Absolute value rnd Round
8. have several outputs the eigenvalues are valid for those subsystems that contain all other subsystems If you need the eigenvalues for a single subsystem you may connect a frequency probe only to the input and output of that subsystem Buesser Engineering 27 SimApp User Manual Frequency Simulation Results 7 5 4 Data table There is a data table for every frequency probe This table contains all data for the Bode and Nyquist dia grams Note The frequency column is usually different for every probe because the various frequency re sponses do not need the same amount of intermediate frequency points UN Freq uency response Tables 8 X SAP D as MPi Bode plot Black s plot Nyquist plot Eigenvalues Closed loop Open loop Report Bode Bode Nyquist Nyquist EA PT1T2 PT1T2 PTIT2 PTIT2 Ampl dB Phase Real part Imag part 0 1 8 1956 5 6527 2 5566 0 25305 0 10233 8 2019 5 789 2 5578 0 25932 0 10471 8 2085 5 9289 2 5591 0 26576 0 10715 8 2154 6 0723 2 5605 0 27239 0 10965 8 2226 6 2195 2 5619 0 2792 0 1122 8 2302 6 3706 2 5634 0 2862 0 11482 8 2381 6 5256 2 565 0 2934 0 11749 8 2464 6 6847 2 5666 0 30081 0 12023 8 2551 6 848 2 5683 0 30843 0 12303 8 2642 7 0157 2 5701 0 31628 0 12589 8 2737 7 1879 2 5719 0 32436 0 12882 8 2837 7 3647 2 5739 0 33268 0 13183 8 2942 7 5464 2 5759 0 34125 0 1349 8 3051 7 733 2 578 0 35008 Figure 30 Data table Data tables can be
9. if the value at S is lt O or greater than the number of outputs 1 13 9 4 n 1 Input switch multiplexer The signal at select input S selects 1 of several inputs to be connected to the single output The routed signal may be of any type analog logical or digital This multiswitch can have 2 to 50 input pins S Out lt 0 0 0 10 1 11 n 1 In 1 n 0 The output supplies 0 if the value at S is lt 0 or greater than the number of inputs 1 13 9 5 Triggered sample and hold This element has an analog and a logic input terminal On the rising edge at the trigger input the analog in put signal is sampled and the value held at the output until the end of the simulation or until the next trigger event is applied Before the first trigger event the shape of the output signal is determined by the option Track before hold If Track before hold is enabled the output tracks the input signal until the first trigger event is applied other wise the output signal remains zero After the occurrence of the first trigger event this option does not affect the output any longer Note the difference from SimApp s ordinary sample and hold element which samples and holds the input signal at every sample period A Folgen vor Halten u t Track before y t hold Trig S H 5 de L t gt Hold Halten Buesser Engineering 116 SimApp Catalog Miscellaneous Controllable
10. 09397240733 pP ted 0 Buesser Engineering 37 SimApp User Manual Custom Blocks Creating simple custom blocks by selection 10 Custom Blocks Large and complex systems can be difficult to understand Such systems often consist of several subsys tems You could graphically separate subsystems by drawing lines or using colored shapes and include descriptive text but this would enlarge the drawings even more Generally it is not necessary to show all the details of a system simultaneously Furthermore there are some well known structures in specific engineer ing disciplines that can be used repeatedly but with different parameter values For this purpose in SimApp you can create your own blocks You can draw any system or subsystem and pack it into a new block with its own parameters This is not even restricted to block diagrams You can put any kind of graphical representation you draw with SimApp into custom block User defined blocks have own block symbols and do not differ from basic blocks You can store them to the palette or collect them in librar ies There are two methods of creating higher level integrated blocks In the first method you can select all objects in a drawing and gather them into a single block In the second method you use a special workshop in SimApp the block folder The first method is very fast and is suitable for temporarily simplifying a drawing without any need for re use The second m
11. 5 2 9 3 Edit picture You cannot edit the contents of the picture But you can change its size For restoring the original size select Restore original size in its pop up menu 5 2 9 4 Convert a picture You can convert metafiles wmf emf into native SimApp objects by selecting Convert picture Objects un known to SimApp are ignored 5 2 10 Arrow The arrow is a special object and is used for the symbol of a custom block It shows the direction of the data flow Other arrows of any shape and size can be created with the polygon tool 5 3 Formatting objects Each drawing object has format attributes e g line style font fill etc New objects have default format attributes that you can change Changes to format attributes apply to all currently selected objects If nothing is selected the default attributes are changed Buesser Engineering 14 SimApp User Manual Drawing Functions Formatting objects 5 3 1 Format toolbar There is a special toolbar for formatting E Arial aho v Fx U E HH 100 ih E oe Figure 14 Format toolbar This toolbar contains controls for the most important attributes The changes are instantly applied to the se lected objects If no objects are selected the toolbar changes the default format 5 3 2 Format properties All format properties are accessible on the format property sheet You can open it in the main menu Format or in the object s pop up menu Format properties MM For
12. 6 8 Discrete time PID controller PIDZ iiien iiien ei aer ia i i r a aa 103 13 6 9 Rational discrete time transfer element G Z ooooooonncccnnnocicnnoncccnonannnononnnnn non ncnnno nn nr nono rca r non nnrnnnn rra 104 13 6 10 Discrete time filter z Fiter causante calida 104 13 6 11 Linear difference Equation SySteM ooononccccinocccnnococcnononcncnanoncnn nono cnn nro nn nr nano rr rn rre rra 105 13 7 CONVE Si ica 106 13 7 1 Analog to digital converter ADO eiii eerste i eee hi eee E E N a TE seo 106 13 7 2 Digital to analog converter DAC ooooononcccninocicononoccnnnonnnnnonannnnnnncnnn non nrcnnnn rn rr nn nn anar nn rene narran rra nan nnncnnnes 107 13 7 3 Analog to binary converter ABC ooooonnoncccnnnocccococononnnoncncnanonnnnnnnnnnnn non n nr nano nn rr nn nn anar rr r nan nn Ennn rra nan nannan nat 108 13 7 4 Binary to analog converter BAC c ccccceeeeeeeeene cece eeeeeeeaeceeeeeseceaaaeceeeeeseseaaeaeeeeesesencaeaeeeeeeesennanaeees 108 13 72 59 A A O E T O 109 13 8 A TN 110 13 8 1 GND Ground logic 0 false ci sees ee A o Ada ca 110 138 2 V logie T Uca O aio 110 13 8 35 A A bera tan 110 13 84 OR Date see 111 13 8 5 Exclusive OR gate XOR non equivalence mssrrmmmvvvrmvvvvverrrrrrerrrvrrrrrrvenrrnrrrrnrrvrnrrrrrvnnrennrreertnnnn 111 13 8 6 Inverter NOT gate viii a drenere 111 18 7 SRAMP MOP ude o ere enten 112 13 8 8 SIK MpR OP ninia cn 112 13 891 Dip tp acta dd dia 113 13 8 10
13. G s K h t i E 4 gt o t K 1 gt t Magnitude and phase response Polar plot dB 4 K p o gt PA K 1 gt 0 O Buesser Engineering 58 SimApp Catalog Linear elements Integrator 13 2 3 Integrator The output of an integrator element is the integral of the input signal over time It responds to an input step with an unlimited time output ramp Thus it represents an unlimited storage device For t lt 0 the output is equal to the initial value YO The reset time is the time at which the magnitude of the step response is equal to the constant magnitude of the input step if YO 0 Ymin and Ymax anti windup limit the output When the maximum value is reached the integration is stopped and continues in the opposite direction only if the input value has changed its sign The limits are active only if Ymax gt Ymin Logic high value at Reset input terminal always resets the integrator to initial state YO The logic threshold Vth is 0 5 by default however may be adjusted individually In frequency simulations the Reset input is omitted In time simulations if you do not need the reset feature you can leave it open disconnected Functions Step response 1 y t T u t dt l k hit Ymax VA eje LE Heger sti 1 Hold p o t Ti 1 i gt Ti t Magnitude and phase response Polar plot dB 4 0 20dB Dek b 0 PA 0 gt 0 90 Buesser Engineering 59
14. Graphs step that the system behavior does not change You may also need to shorten the integration interval as well approx 1 10 of the shortest time constant in the system T 0 001 s Tt 0 001 s Figure 36 Avoid feedback loops without delays 8 4 XY Graphs XY graphs are suitable for two dimensional data representations You may use time probes and XY graphs simultaneously The results are displayed in the same data window but in different diagrams Figure 37 XY Graph The XY graph plots data in the x input against data in the y input It has three input channels for displaying up to three X Y plots simultaneously Unused channels can simply be left unconnected The plots can be printed out Time information is printed as labeled dots Oscillator Preload OU 1 Db 8 OL 1 Figure 38 Comparing backlash and preload characteristics by using a XY graph element 8 5 Simulation Properties The simulation process is controlled by several parameters and options Open the associated dialog box by selecting then menu item Time Simulation properties pressing button Yor opening the drawing s pop up menu O Buesser Engineering 31 SimApp User Manual Time Simulation Simulation Properties Time Simulation Properties Parameter Options Simulation duration Open plot window on start up Integration step size Show abort dialog Fer C Extend plot window of previous simulation points C Real time simulation Nu
15. In con trast to the non delayed monoflop the on time of the output is not specified The on time is determined by the duration of the Trigger pulse and an additional delay time The rise and fall times depend on the Off de layed option Options When Off delayed is disabled the output is set the delay time Td after the positive transition of the trigger signal and forced low again on the negative transition of the trigger If the trigger pulse is shorter than the specified delay time the output signal remains low When Off delayed is enabled the output is set on the positive transition of the trigger signal and is forced low delay time Td after the Trigger signal went low If the trigger input is set again before the Td has elapsed the output high state is extended until Td after the negative transition of the second trigger pulse retriggering A Reset Trigger Delay L L L mle RIL Output On delayed a d a Td 15s Output Off delayed Td Td l gt Buesser Engineering 114 SimApp Catalog Miscellaneous 1 2 Switch 13 9 Miscellaneous 13 9 1 1 2 Switch This element is a 1 line to 2 line demultiplexer The Select input determines the signal routing to the output When the select signal is low off state the input is routed to the upper output the lower one supplies Zero When the select signal is high on state the input is routed to the lower output the upper one supplies zer
16. PX UK TD 1s Ts 0 1 s Transfer function G z Tp z 1 T oz Magnitude and phase response Polar plot dB 4 20dB Dec analog E time discrete zeitdiskret PA 90 o gt 2n T 0 gt 0 O Buesser Engineering 101 SimApp Catalog Discrete time transfer elements Unit delay z element 13 6 7 Unit delay z element The unit delay delays a discrete time or analog signal by the sample period T The block can be rotated in 90 steps Functions Time response y t u t T Step response 7 1 h t o t T gt Transfer function Ts 0 15 G z z z e Magnitude and phase response Polar plot dB 4 A Buesser Engineering 102 SimApp Catalog Discrete time transfer elements Discrete time PID controller PIDz 13 6 8 Discrete time PID controller PIDz This controller is the counterpart to the ideal analog PID controller type I It consists of the parallel connec tion of a P a Iz and a Dz element which can individually be switched off Since the same parameters exist gain K rate time TV and reset time TN it allows a direct comparison be tween the analog and the discrete time implementation The output signal can be limited by two selectable anti windup measures in the range Ymin Ymax Anti Windup Hold The integration is stopped when the saturation s input signal leaves the valid range the upper or lower limit of the saturation As soon as the
17. consists of blocks and signal lines The blocks represent the transfer elements that change system data or create new data The signal lines interconnect the blocks and enable the system s data flow Each line stands for a system data item with direction indicated by the arrow head 4 3 1 From real system to block diagram You are fortunate if your system is already represented by a mathematical description differential equations or even by a block diagram You can just start drawing Otherwise you still have a lot to do Analyze the system find interfaces to other systems break it into subsystems and find suitable mathematical equations If you have found a mathematical description you can present it in a graphical form by using objects from the palette and simulate it However the translation from the real system to a block diagram representation is not part of this manual Refer to the literature about automatic control systems control engineering nonlinear control dynamic simulation etc See the bibliography at the end of this manual All basic elements are divided into categories in the palette As a simple tutorial project we draw the follow ing block diagram Buesser Engineering 6 SimApp User Manual Introductory Example System modeling Figure 5 Control loop with step stimulation Be sure that automatic snap is on Button Hi in the drawing palette Get the objects out of the palette by first clicking the tab of the p
18. delay element 13 9 6 Controllable delay element The current delay time in seconds s is controlled by an analog input signal at the control input Cir Dmin and Dmax can limit the delay range The lower limit is 0 if Dmin lt O and the upper limit is if Dmax lt 0 Example Response to input step at time t t0 A y t K NAAA Dre ene pp mn 1 Kr Delay YO IP Ctrl tg Ctrl Dmax t A Dmin gt Ctrl Dmax 13 9 7 Relation The Relation element offers 6 relational operators A lt B A lt B A B A gt B A gt B A lt gt B The deadband is used for the equal A B and unequal A lt gt B operations only in order to compare floating point numbers within a tolerance band If both input signals are within this band they are interpreted as equal or unequal respectively Relation A lt B gt Buesser Engineering 117 SimApp Catalog Miscellaneous Window comparator 13 9 8 Window comparator This element detects if the input signal is inside or outside the range window WB WT The state input inside or input outside is indicated by the logic Q output port The output port Y supplies the input signal if it is in the valid range otherwise it supplies WB or WT Designation of the valid range is determined by the Outside option If Outside is enabled the valid range is between WB and WT If the input is not in this range the Q output is set If Outside is disabled
19. drop in the Bode diagram changes to a phase rise and the Nyquist diagram should show a perfect circle You can reduce this effect by increasing the number of points per decade or the number of intermediate points if the phase difference is too high Note however that this effect usually occurs at high frequencies and phase drops of more than 1000 to 2000 only thus not in the frequency range of interest So you could eliminate this effect simply by reducing the stop frequency 7 5 3 Eigenvalues The eigenvalues are calculated for every subsystem determined by a frequency probe and displayed in a table UN Frequency response Tables Lo ie i ee Bode plot Black s plot Nyquist plot Eigenvalues Closed loop Open loop Report Closed loop Open loop 7166 2 0j 690 84 4680 2j 8571 7 0j 690 84 4680 2j 82 822 0j 44 52 85 588j 13 126 57 912j 44 52 85 588j 13 126 57 912j 53 674 38 726j 50 874 0j 53 674 38 726j 0 24245 0 66336j 0 0j 0 24245 0 66336 0 5 0j 1 0j 1 0j alel wih co Figure 29 Eigenvalues There is a column for every single probe Notes e The eigenvalues are only calculated for linear continuous time and time invariant systems that have no dead time elements As a compromise you can approximate dead time elements by means of an appro priate Pad approximation e Those system parts that have no effect on the output are omitted and not used for calculation If you
20. in the block folder 3 Close the dialog box The symbol and the value appear on the first row of the parameter table Repeat this procedure for the armature resistance back emf constant and inertia 4 Repeat step 1 and 2 for all other parameters 5 Until now the new parameters have not had any effect Now you have to define their relationship to the parameters of the individual elements Open the simulation properties dialog box of the PT element Armature current Press the Parameter properties button and click the tab for the time constant In the formula file enter the expression 1 2 Parameter properties Time constant Symbol T Unit s Min value 0 Max value O Formula 1718 always visible in drawing Figure 49 Entering formulas 6 The values in the square brackets are the indices of the new block parameters in the parameter table 1 refers to the armature inductance La The formula 1 2 means the quotient of La and Ra SimApp inter prets the formula for every simulation Besides the basic operators and there are numerous ad ditional functions available and you can also use parentheses Repeat this procedure for the gain of the PT element 7 Now you have defined the relationship between the parameters of the PT element and the new motor parameters Repeat step 3 for all elements For the revolutions at the proportional element you do not need a formula Simply enter 9 549 or th
21. line segment endpoint After that you may click anywhere on the diagram to make subsequent segments until you reach a node on a block If the endpoint of the line is not a node red dot the line will not be finished by just releasing it In this case you have to double click to finish the line Note Blocks are directional as shown by the arrow in the block Make sure the block is pointing in the desired direction before you connect it to others This will make it eas ier to get a correct model the first time Some lines end in a summer To change the sign at the summer right click on the arrow and select change sign The sign will only change when it is appropriate for that connection 4 3 3 Changing block parameters After drawing the block diagram change the damping parameter d of the PT2 block to 0 3 There are two ways to achieve this Fast editing in the drawing Click the numeric value of d Not the letter An input box appears with the old value selected Enter the new value and press Enter PT2 Pr Figure 6 Changing parameters Changing d in the block properties dialog box O Buesser Engineering 7 SimApp User Manual Introductory Example Simulations Double click the PT2 element or right click on it select Simulation properties in the element s pop up menu Locate the input control for the damping enter the new value and press Enter Note that there are more pa rameters in the dialog box than are visible
22. of a multiple selection differ e g for a text selection that is partly editable If you press Ok that option is not changed for all se lected objects If you click a check box that is in the mixed value state the associated value is set and a check mark is placed in it This implies that the property of all objects in the multiple selection will be set to the associated value when it is applied 5 3 3 Default formatting attributes New objects receive default format attributes Change default format attributes in the attribute property sheet while no object is selected 5 4 Rearranging and changing objects There are various commands to change and rearrange objects in the main menu in the object s pop up menu or in the drawing toolbar The toolbars begin on the left side of the drawing surface and they can be moved to other menus by dragging the comb like symbol The drawing toolbar contains the most important commands ti Ono ASA Figure 17 Drawing toolbar 5 4 1 Flip and rotate objects Rotate selected objects by steps of 90 degrees to the left de or to the right Sh or flip them vertically Ah or horizontally 5 4 2 Ordering objects A drawing also has a third dimension into the page because objects can overlap Objects can be placed on top of each other as you start closest to you and move back into the screen The last object inserted is the front object Change the order for individual objects Th brings a selected objec
23. signal is reduced the integrator is released Anti Windup Reset If the saturation s input signal exceeds the limit the integrator s output signal is reduced so that the sum of integrator differentiator and unit gain equals exactly the limit Ymax or Ymin Functions Step response T Ty z 1 ED PIDz G z Kl 1 22 az 1 T Tyz h t Koz gt K 1 K y o t TV s TN s Ts 0 1s gt 0 t Magnitude and phase response Polar plot K SO PIDz Ve TF 2 1 z 1 2 z 1 T T z 45 0 45 90 Buesser Engineering 103 SimApp Catalog Discrete time transfer elementsRational discrete time transfer element G z 13 6 9 Rational discrete time transfer element G z The G z element is the general implementation of a linear discrete time transfer element It is the counter part to the analog G s element and is also known as digital controller A real time computer program must be causal i e for computing the new output value y kT one can only use the input values u kT u kT T From that is concluded that the order of the denominator must be greater or equal to the order of the numerator Functions G z G z G z K bo byz Dz b JF b z SF SF b z N z VEE ST K 7 T D z araz ota gt m lt n a 0 Ts 0 1 s o bo 1 a0 1 m lt 31 n lt 31 bo 1 a0 1 The meaning of the initial values is depicted by the matrix representation of the state equations
24. to integer Pi m 3 14159 You can also use parentheses Upper and lower case is not differentiated The formula is syntactically tested and numerically evaluated when closing the dialog box If you have a relationship to external parameters their typical values are used If the formula contains any syntactical or numerical errors for example division by zero overflow etc the point in the formula where the interpreter encountered an error is designated by a question mark Therefore by entering typical and valid values for the external parameters you can avoid simulation aborts produced by formula errors Some examples for correct formula 5 67 Parameters with constant value 5 67 3 The value is always identical to the value of the block parameter in row 3 of the parameter table sin 3 Sine of the parameter in the third row 2 5 exp 4 6 sin 1 76 Pi 4 2 1 4 Pi sin 1 Note SimApp applies zero if you enter a relationship to a non existent parameter There will be no error message if no syntactical or numerical errors occur 10 2 7 Testing the inner system Before you have finished your block you should test the inner system In the system window you can per form time and frequency simulations but you cannot store the results They are lost if you close the block folder Alternatively you could test the system in a standard SimApp drawing In this case the
25. to manual mode an automatic bias or offset is applied to the manual input signal so that the controller s output shows no discontinuities step changes When switching back from manual to auto the output of the integrator is set such that the bump less transfer is guaranteed also In manual mode P and D work as usual but are not used for the output channel is stopped and not used either First order lowpass Filter in the D channel To reduce noise amplification differentiation noise of the controller input a low pass filter is combined with the derivative to form a DT1 element Output Limitation Saturation Limitation of the control signal to prevent overloads Anti Windup Hold The integration is stopped and held when the control signal at the saturation input leaves the valid range upper or lower limit of saturation As soon as the control signal is reduced the integrator is released Anti Windup Reset If the control signal at the saturation s input exceeds the limit the integrator s output signal is reduced such that the sum of all action channels integrator differentiator Gain feedforward exactly equals the limit Ymax or Ymin O Buesser Engineering 91 SimApp Catalog Controllers Ideal PID controller type II PID 11 13 5 10 Ideal PID controller type II PID II PID control structures are used if the steady state and the transient performance of the system are not within specifications The second form of th
26. use a newer PC with significant main memory 2 3 Installation Before you can run SimApp you must first install it by launching the setup program There are two ways to obtain the installation files e By downloading over the Internet e By Purchasing the optional CD ROM 2 3 1 Internet Download You can download SimApp from our homepage www simapp com Please use the credentials you received during purchase It is not possible and also prohibited to simply copy the executable file from another com puter The easiest way to do this is to copy the installation file to your desktop and to launch the program by clicking on the newly created icon Alternatively you can also use the Run command in the Windows start menu 2 3 2 CD If you purchased SimApp on CD all you have to do is put the CD in your CD drive and the setup program setup exe will start automatically If this does not happen you must run setup exe manually The easiest way to do this is to use the Run command found by pressing the Windows Start button Run presents a dialog that prompts you for the name of the program you want to run If you placed the SimApp CD in Drive D just type DASETUP Follow the directions displayed by the Setup program O Buesser Engineering 3 SimApp User Manual SimApp Main Window Overview 3 SimApp Main Window 3 1 Overview After launching SimApp opens the main window In the program options menu Extras Options you can select
27. whether you want SimApp to reopen all drawings of the last session Otherwise it opens a new empty drawing SimApp Workstation 2 60 Introduction sap SY File Edit View Insert Format Drawing Extras Time simulation Frequency simulation Service Window D gt i E Sources Linear Nonlinear Plots Actuators Controllers Time discrete Converters Logic Misc Special Drawing Osci Pulse PWM Timer Trig Drive Noise User File 3 REAVLMEPFAATAML mMAG E Tr Arial u ye SORES MAX o hs yaa pomi Bl A le 10 26 0 64 cm Second order lag element qE 10 55 2 18 cm it 1 10 2 26 cm Figure 1 SimApp main window 3 2 Menus 3 2 1 Main menu In the menu bar across the top of the SimApp application window you will find most of the commands Some contextual or object specific commands reside only in specific pop up menus 3 2 2 Pop up menus Right clicking an object opens its pop up menu Objects can be anything you see in the application window palette buttons toolbars panels and even objects in your drawings By means of pop up menus you can access the operations of these objects Pop up menus are displayed at the pointer s current location so they eliminate the need to move the pointer to the menu bar or a toolbar 3 3 Toolbars and controls 3 3 1 File toolbar The file toolbar is in the top left corner of the SimApp main window It has some buttons for the most impor tant file operations such as saving opening printing and a button
28. 0 Constant rate E dt const ar AO TR NNM E Rr 1 s 1 NN t Rf 1 s 1 YMIN S2s22cesseeessessesssseseaogee Ymin lt y t lt Ymax I Buesser Engineering 82 SimApp Catalog Controllers 13 5 Controllers 13 5 1 2 point step controller The output signal varies between two constant values DL y SU DU YO is the initial value at time t lt 0 May be different from SU and SL SL 13 5 2 3 point step controller The output signal varies between three constant values A gt YO is the initial value at time t lt 0 May be different from SU SL and OF O Buesser Engineering 83 2 point step controller 2 step SU 1 SL 1 DU 0 5 DL 0 5 YO 1 3 step SU 1 SL Db DU 1 DL YO 0 SimApp 13 5 3 Ideal PI controller PI i Catalog Controllers Ideal PI controller PI i The ideal PI controller is designed for phase lag compensations It is used if the controlled system has in adequate steady state performance It is not used if the system itself has an integral characteristic The ideal PI controller eliminates the steady state error in the step response Functions y de fos 1 sT G s K Magnitude and phase response ES se aitioni Angi 20dB Dec hi P Portion Anteil 45 90 Buesser Engineering Step response 0 T a t Polar plot A jm 0 a K
29. 0 75715 0 73418 0 73553 0 0 8 0 609756 0 62202 0 60895 o 6104 0 9 0 552486 0 56011 0 55191 0 55329 0 1 105 0 50364 0 49964 10 50092 0 50002 Since the function has no steps the Runge Kutta 4th order method has the best performance at all times For a comprehensive discussion about numerical methods refer to 6 O Buesser Engineering 34 SimApp User Manual Parameter Variation Properties of parameter variation 9 Parameter Variation Parameter variation allows you to examine the system behavior with varying parameter values rapidly and easily Each parameter can take up to 100 different values SimApp automatically runs a simulation for each value and displays the results in a single output window If one or more parameters of an element block contains varying values one can speak of parameter sets Different elements can have parameter value variations throughout the model For example all i th values of the parameters of an element form the i th parameter set of that element All i th parameter sets of all ele ments of a system form the i th parameter set of that system The number of parameter sets for elements can be individually set The number of parameter sets used for the simulation is set in the simulation properties of the time and frequency simulation But the number of parameter sets in different elements may be different The base parameter value displayed below the block symbol in the drawing or in
30. 00 valve travel O Buesser Engineering 80 SimApp Catalog Nonlinear elements Stiction e YO Output signal for 0 valve travel O Buesser Engineering 81 SimApp Catalog Actuators Rate limiter 13 4 Actuators 13 4 1 Rate limiter The rate limiter shows the characteristic of an actuator that is too slow to follow the input control signal It limits the rising and falling rates of the input signal e the first derivative of the signal passing through it and the amount of the upper and lower saturation limits The initial value can be specified by the user or tied to the input signal at time 0 In the second case YO is ignored Ya dy t pocco Sf lt dl lt Sr Ymax Lo Sf lt 0 Rat Sr gt 20 ale limiter H a dt lim U T Sr 1 s 1 19 I Sf 1 s 1 i 4 U Ymin tpe t i Y min lt y t lt Y max RE E 13 4 2 Constant rate This element knows 3 output signal slopes only If the input signal is too small the output does not change dead zone otherwise it rises or falls at a constant rate dependent on the input signal being positive or negative Finally saturation limits the output signal in both directions The initial value can be specified by the user or tied to the input signal at time 0 In the second case YO is ignored y A Ymax 1 dy t _ Rr for fur u t gt Xt Rf for fur u t lt xt O for f r Xt lt u t lt Xt Rr gt
31. 108 0 94108 000015644 0 094108 1 0973 1 0973 00002734 0 10973 1 2533 1 2533 0 00043682 0 12533 1 409 1 409 0 0006543 0 1409 1 5643 1 5643 0 00093335 0 15643 1 7193 1 7193 00012815 0 17193 D 1 8738 1 8738 0 001706 0 18738 near AG ana7n anata nanan AE nanazn jejo H 0 Om oH on 000000 0 0 0 0 0 0 0 Figure 41 Data table The values at index 1 at time 0 01 are the initial values before simulation O Buesser Engineering 33 SimApp User Manual Time Simulation Time simulation examples 8 8 Time simulation examples 8 8 1 Numerical solutions of differential equations The following example shows how to solve differential equations in SimApp A differential equation and the initial value of the solution curve are given as y 2xyY y 0 1 Compute the approximation of the solution curve with different integration methods and compare the results First draw the block diagram that represents the differential equation Ramp Multiplier Figure 42 Block diagram for the differential equation y 2xy Calculate for each integration method the first 10 values of the solution curve with an integration interval of h 0 1 Copy the values into an Excel or a Word table and compare the results with the exact solution y x 1 x 1 I x exact Euler Euler modi Heun Runge Kutta Runge Kutta Oo et h GE 01 09900 lr 1099 0 99 0 5 108 0 82525 10 79889 10 80003 0 08 0 6 0 73529
32. 13 3 16 Stiction Valve stiction often imposes great problems on control loops since it can cause oscillations The term stiction is the combination of the two words stick or static and friction It describes the effects that occur if the static friction exceeds the dynamic friction in valves motors or other mechanical systems When the valve is at rest and the control signal is increased the valve will not move until a certain force has been applied But the resulting movement is not as uniform as in the case of a simple hysteresis characteristic Since the valve sticks the initial movement is a jump Sticking occurs if the valve stops moves very slowly or changes direction The stiction element in SimApp is not limited to valves It acts as a common actua tor element for various devices having stiction It deals only with the effects of hys teresis and sticking Other effects that are device dependent are achieved by sub sequent elements or sub systems SimApp uses an empirical model described in a paper of S L Shah Modelling Valve Stiction that is not based on physics but is simple to implement and easy for industrial personnel to measure the required parameters Stiction Stiction S LL gt DS 3 J 1 UO 0 U100 10 YO 0 Y100 10 In the model stiction occurs if the sign of the slopes changes or remains zero speed 0 for two consecu tive time intervals To observe the speed of the valve the position is sampled in c
33. 2 A O 3 2 1 LICENSE TERMS NO 3 2 2 System requirements varsel 3 2355 Installation armee tet theta i ht et ONDE TREE 3 2 3 1 Internet Download c 2 snes wl a de shite Sie eed bee eee 3 2 3 2 OD PA E Eee EE N 3 3 SimApp Main WINdOW niece iia 4 3 AOVGRVICW NE 4 32 ISS es satis NN 4 3 2 1 M lnmenUin A re 4 3 2 2 Pop up MENUS ci A dd did ds 4 3 3 Toolbars aNd Controls is iii a iden id 4 3 3 1 File tool Dai a iio 4 3 3 2 Paleta A a Arne eee need ria eed ringe 4 3 3 3 Moveable toolbars EEE EE EE aat ai aon pitean 5 3 3 4 Library toolbars iaa a int 5 3 4 Status A 5 3 5 Error 8Y AA ea hae a esate ede at gel ae Gaevle ees NT 5 4 Introductory Examples etatene a oda devteecsseede 6 4 1 LANCIA Ge Green 6 4 2 Views and page arrangement rrernnnrrnnnonnrrnnnennrrnnrennrrnnrennnrenrennrrenrennrnenrennrnenrennrresenennrresrennrreseen unne 6 43 System modeling a e o Dee A 6 4 3 1 From real system to block diagraM oooococoncccnnnocccononacnnononononano nono nono cnn nn n nn nano nn rr nan nn aran rn rr nan rre nen rn anne nn cnn 6 4 3 2 Go nnecting objetts ujuuikn it 7 4 3 3 Changing block parameters ccoioiininia aii lts 7 BA MUS A a 8 4 4 1 Time simulationi ansatinesamndentg trudde o tettere da ad ae ara te tecdsgns bane te adheeteacuanetstecseits sped 8 4 4 2 Frequency simulation icon da AAA siete 9 4 4 3 Simulation list DO ici dado 10 5 Drawing Functions runnssvvnnnnnnvennnnnnvnnnnnnnvnnnnnnnvnnnnnnn
34. 84 SimApp Catalog Controllers Modified PI controller Pl m 13 5 4 Modified PI controller Pl m The modified PI controller is designed for phase lag compensation It is used if the controlled system has inadequate steady state performance It is not used if the system itself has an integral characteristic The modified form of the PI controller is used for the same purpose as the ideal PI controller but cannot achieve the steady state accuracy of the ideal Pl controller Functions Step response y yT K u u T 1 sT G s K es 1 sTn Tn gt gt Tr 0 T t Magnitude and phase response Polar plot dB A Ta Pl m TR 1s TN 10 s 2009 ann O Buesser Engineering 85 SimApp Catalog Controllers Ideal PD controller PD i 13 5 5 Ideal PD controller PD i The ideal PD controller is designed for phase lead compensation lt is used if the transient response is insuf ficient or if the system is unstable phase rise of 0 to 90 It is not used if the controlled system itself does not have an integral characteristic The ideal PD controller is mostly used for educational purposes It is difficult to implement in practice and the D term amplifies the noise in the control system Functions Step response y K u Tu h t Klo t Ta t PD i G s K 1 sT K 1 T1s Magnitude and phase response Polar plot dB a D Portion Anteil 20dB Dec A P Anteil
35. 99377 0 037421 0 059981 0 037421 0 12589 0 05044 0 99347 0 038318 0 062816 0 038318 nN 412007 NnaIonT N NANIA A NINIT NNAREATOR n NINIT Figure 10 Data table 4 43 Simulation list box Each individual simulation run produces a new output window You can leave it open or close it instantly If you close it all its simulation data will be lost You can hide it temporarily so that it will not obscure the main window The name in the title bar can be changed This is often useful if you print out the plots A small list box always on the top of the main window shows the names of all currently open simulation win dows Click a corresponding list item when you want to move a certain window into the foreground O Buesser Engineering 10 SimApp User Manual Introductory Example Simulations Simulations Va Frequency response Figure 11 Simulation list box O Buesser Engineering 11 SimApp User Manual Drawing Functions Introduction 5 Drawing Functions 5 1 Introduction SimApp also contains a simple drawing application You can draw shapes lines and text You may illustrate and comment your block diagrams with these drawing functions They are also used for drawing the block symbol of custom blocks 5 2 Drawing objects Draw simple shapes lines and text by selecting the appropriate tool in the Drawing page of the palette anlinear Plots Actuators Controllers Time NO007z amp H BE Figure 12 Drawin
36. A A a A Sats deathbed 55 13 1 12 A O dpeon tende enkdusspeekdenp be 56 13 2 Linear SlOMONtS i visit nkdedn Hide cebsnngesvvtledges ey ridd br alu bekker dende 57 13 21 A A ON vee en A eee 57 13 2 2 Proportional element P element tireoidin eiiie eiieeii ia ape 58 13 2 3 did 59 13 24 Derivative elements sirien a a e E a A a a E E E aa 60 13 25 Derivative lag element DT1 0oooonnncccnonocicnnococnnononononanonnnn nono corno cnn ran nn rr narran nr rene paikan iiiad tipas datana is daai 61 13 2 6 First order lag element Pl a 62 13 27 Second order lag element PT2 iiare A tad 63 13 2 8 Non oscillating second order lag element PT1T2 o oncnccninnnininnncccnnnonnncnnnancnnnnncnnnno nn nn nnnn nn rra rr rr nnnn rra 64 13 2 9 Nthvorder lag element PT unicos ici 65 13 2 10 LOU Lag Md o 66 13 2 11 Rational transfer element G S iconsiiciacda ctra ette 67 13 2 12 Dead time PTE miii A A e ata 68 13 2 13 First order all p ss element PTa1 cion ica 70 13 2 14 Second order all pass element PT2 td hai 71 13 2 15 Linear differential equation System m mrssrrravvvvrnnnnnvrnnrrnnrnnnvrvvnnnrnnrannrrnnranersvnnnensrenerrnnraeerevensersrvensennnn 72 13 3 Nonlinear elements 13 3 1 A rain EG debate ad een ekte den costates desk indie 13 3 2 E del Siea e Ma Gad Mee del digs aveai a iita oda vasene bee badge 13 3 3 O issue tiende em apie dd ge da Emmett kg 13 3 4 Multiplier Product 13 3 5 A O O E 13 3 6 Arithmetic element with mu
37. K PD i 0 o 0 K 1 sT gt Pa 0 K 90 K 1 Tis 45 0 0 O Buesser Engineering 86 SimApp Catalog Controllers Real PD controller PD r 13 5 6 Real PD controller PD r The real PD controller is designed for phase lead compensation It is used if the transient response is insuf ficient or if the system is unstable provides a phase increase of 0 to 90 It is not used if the system itself does not have an integral characteristic The real implementation of the PD controller has similar effects as the ideal PD controller but it is easy to implement and keeps the noise within tolerable limits Functions Step response t y yT K u uT mo k 1 72 1 Tw Tn PD r 1 sT PD r E all PE K 1 Tn lt Tr TR 1s TN 0 3 s Magnitude and phase response Polar plot PD ideal A 00 PD real PD r 1 sT KR 1 sT gt K 1 e KIE TR s Tn TN 0 3 s O Buesser Engineering 87 SimApp Catalog Controllers Ideal PID controller type I PID I 13 5 7 Ideal PID controller type I PID I PID control structures are used if the steady state and the transient performance of the control system are not to adequate The first form of the ideal PID controller corresponds to the parallel connection of a unit gain an integrator and an ideal differentiator followed by a saturation element As parameters the gain the rate time and the reset time are used In addition the falling edge of the differentiat
38. Mo dae 113 13 8 11 On off delay coi A rie ieee 114 13 9 MiIScellaneous uastudketu Heda aodacestiesd a 4 he neducevdeds a EE eteaelgertze 115 13 9 1 PASO O bane release eiersiden 115 13 9 2 gt SO A ERE E E a 115 13 9 3 Tin output switch demultiplexer vicio ria tdi tados 116 13 9 4 n 1 Input switch Multiplexenr oonoooccnnnnncccnnnocccnnncccnnononnnnnnno cnn nnnnn nc cnn nn rr nano nn rra nn nn nn nn rr rr nan nn aran n nn anaana cnn 116 13 9 5 Triggered sample and hold ococonocoioo cassette dad Ea nantan 116 13 9 6 Controllable delay element A ie 117 EA O A A O A 117 13 98 Window COMparatoriuiicici ica ida 118 13 99 Zero crossing detector e i hirtii nit ta litro ies ill 118 13 9 10 Step AMP at a 119 13 10 e ii A A eee de ci 120 13 10 1 Transmitter and Receiver ocio a iaeia v edina 120 14 Bibliography cui do 121 O Buesser Engineering V SimApp Acknowledgments About this Manual This manual contains a comprehensive introduction to the use of SimApp and a catalog of all standard simu lation elements If you are new to SimApp we recommend that you read it carefully Simulation programs are not as widely standardized as text or drawing programs Many important details will only be discovered by reading this manual The primary aim of this manual is to present you with the concepts the main tools and the equipment for successful simulations Reference information about the use of special tools and comma
39. Selectable but not editable change size and position by clicking and pressing the ALT key But the text is not accessible e Editable but not selectable Edit text by clicking Position is fixed size depends on text Buesser Engineering 44 SimApp User Manual Custom Blocks Creating custom blocks in the block folder e Selectable and capable for editing Select and drag the object by clicking and pressing the ALT key Edit by clicking without pressing the ALT key 10 2 10 Joining system and symbol exporting Join the system and the symbol by copying the block into the Window s clipboard For that however you must not use the standard copying command Select in the main menu Extras Block folder Export block to Windows clipboard or simply press the Export block button The complete block is now in the clipboard and ready for use 10 2 11 Using and saving blocks After copying into the clipboard you can use your new block like a standard element Do not forget to store it at least at one place This can be within a normal drawing file in the palette or in a library If you have saved the block you do not need the contents of the block folder any longer All information is stored in the block You can see the internal structure of the block and change it at any time by importing it into an empty block folder 10 2 12 Block revision Blocks produced in the past may be changed by copying them back into the block folder This is don
40. SimApp Catalog Linear elements Derivative element 13 2 4 Derivative element Pure differential behavior cannot exist in a real causal system and cannot be realized by computers This derivative element is the best approach to the ideal differentiator For time simulations the approach de pends on the integration step size and for frequency simulations it depends on stop frequency An ideal differentiator responds by a infinitely high pulse that lasts an infinitely short time interval only In simulations however the pulse height is limited to TD h and the pulse length to h where h is the Integration step size The shorter h the better is the approximation to the ideal behavior As an ideal behavior cannot occur in real systems the approximation in SimApp is not a disadvantage Functions Step response y t Tou t h t T e t G s Tps h t D i To h L2 1 a TD 1s eh t Magnitude and phase response Polar plot dB 4 20dB Dec dB 4 with approximation 2 mit N herung gt D 0 ThS o 0 gt gt 90 TD 1s 0 gt 0 Implementation notes As a pure differentiator can not be implemented by programming SimApp uses a real differentiator whose coefficients are set in such a way that they approximate the ideal behavior da er ToS The transfer function of a more realistic differentiator includes a lag G s 1 75 IS Ideally Tis 0 For time simulations T h integration step size
41. SimApp is very simple to use and enables beginners to quickly obtain usable results within minutes 1 3 Using help SimApp has several supporting help mechanisms You can call the SimApp online help application that gives you information in structural form or you can use context specific help on the various interactive components menus controls and toolbars You will also find this manual in the online help 1 3 1 Launch help application Start the online help by using the content and index command in the help menu and search the required information in the contents list This help resource is best for general information For detailed information about buttons and entry controls use the context sensitive help instead 1 3 2 Context sensitive help Contextual information is available anywhere where you discover the symbol in a window s title bar or the help button R somewhere in the window First click the symbol or the help button and then the object you need more information about This opens a help pop up window for that object which delivers detailed infor mation about the subject Alternatively you may also press the F1 key if the corresponding control has the input focus You can also pull up a manual page by right clicking on the object There are controls with comprehensive information but also such with nothing at all The amount of informa tion depends of the actual need for additional comments Buesser Engineering 1
42. User Manual www simapp com Version 2 6 SimApp for Windows 2000 XP Vista END USER LICENSE AGREEMENT The software product SimApp with its editions Light Workstation and Server is owned by Buesser Engineering BE and is protected by copyright law and international copyright treaty BE owns all the intellectual property rights title copyright and associated trademarks The software is licensed for use not sold Upon your acceptance and conformance to allthe terms and conditions of this End User License Agreement EULA Buesser Engineering grants you the right to use the Software in the manner provided below The right to use the SimApp software editions Software Light and Workstation is limited to the installation and use on a single computer client no matter if it is a stand alone computer a workstation in a local area network or any other kind of multi station computer system Each instance of a virtual machine counts as one client If you want to install these editions on more than one computer you must obtain the appropriate number of licenses The right to use SimApp Software Server edition on a local area network or any kind of other multi station computer sys tems includes the right to install the software on a single network server computer and to load it into the main memory of the number of clients connected to the server allowed by the license The installation and use on more than one network is proh
43. a block parameter for the sample period The reference must be direct e g 3 and may not contain any formula expressions 1 2 or 5 5 e For testing purposes internal signals can be transmitted to outside by using transmitter receiver pairs Buesser Engineering 45 SimApp User Manual Palette Creating deleting and renaming palette pages 11 Palette The palette is a menu system visible above the drawing surface and contains all standard objects that can be inserted into the drawing lt consists of several pages accessible by tabs Each page contains a certain category of objects You can extend the palette as you wish For example you may create new pages and store your custom blocks in them Use the following functions for palette processing Create new pages Move pages change arrangement Extend palette with new objects Rename pages Delete pages Move buttons Load and save palette 11 1 Creating deleting and renaming palette pages Open the palette s pop up menu by clicking the right mouse button on the palette but not on a button then select the appropriate menu option New page Click the New page Enter a name that does not yet exist in the palette Delete a page Click Delete page The front page is deleted immediately If there are still buttons in it SimApp requires con firmation that it may remove all buttons and the associated objects Standard pages are excluded from dele tion Rename a p
44. ace description This method has some special effects 7 5 2 1 Constant phase error Phase calculation from the real and imaginary parts of the frequency response matrix uses the atan function 1 The atan function has a periodicity and therefore an uncertainty of 360 So the initial phase is always in the range of 180 If the real phase is not in this range SimApp cannot recognize it and produces a con stant phase error over the whole frequency range of a multiple of 360 You can study this by simulating a chain of three integrators SimApp shows a phase of 90 instead of 270 7 5 2 2 Phase rollover If the phase drop is very fast the phase difference between two frequency instants can exceed 180 As the atan function has a periodicity of 360 see above SimApp produces erroneous phase values at every frequency instant and can even force the phase response in the wrong direction But this effect can easily be recognized in the diagrams It usually occurs if the systems contain time delay elements Buesser Engineering 26 SimApp User Manual Frequency Simulation Results f i E E E E i ram 04 02 04 071 2 346 10 2030 50 100 200 400 1000 1 0 75 0 5 0 25 0 025 05 075 1 Figure 28 Erroneous phase response of a dead time element In figure 28 you see the frequency response of a dead time block In the frequency range above 70 rad sec the frequency response shows only garbage The phase
45. achieved by inverting the polarity of the incoming signal line Division Functional relationship y u u u Dividend is the signal of the first the top most input node All other inputs are divisors The sign of the divi dend and the divisors can be set by changing the sign of the input signal line See subtraction 13 3 7 Function element with single input Only the most important functions have their own element This element Func 1 provides 29 additional single input functions There are linear and nonlinear functions Linear functions may also be used in frequency simulations sin gt Trigonometric and inverse functions sin cos tan Cotan arcsin arccos arctan Hyperbolic and inverse functions cosh sinh tanh arcosh arsinh artanh Exponential and logarithmic functions exp 2 10 x x In Lb Ig xP AX loga yx Miscellaneous functions x sign Deg gt Rad Rad gt Deg Cycle gt Rad Rad gt Cycle Buesser Engineering 76 SimApp Catalog Nonlinear elements Function element with double input 13 3 8 Function element with double input This element provides 10 input functions for two inputs a b a b axb a b F 2 a a la be unc a arctan a b min a b max a b a b a is the lower and b the upper input node 13 3 9 User characteristic This element has a static input output char
46. acteristic with up to 10 000 points You can choose between lin ear and rectangular interpolation Functional relationship y f P1 P2 Pn t n 1 10 000 s User rectangular rechteckig gt gt P1 Steps can be built by setting the same input value u for two adjacent points The output values of the first and the last point are also valid beyond the given characteristic The values are stored in the element but can also be saved in text files This enables the data exchange with other applications For file and data format descriptions please see User Source 13 3 10 Saturation The saturation element is the most commonly encountered non linearity in control engineering It limits the input value to the upper and lower saturation values SU and SL Saturation OF yet SU 1 SL 1 SL If the input signal is greater than SU the overflow output OF is set to logic 1 If the input signal is lower than SL the underflow output UF is set to logic 1 But the analog output signal always stays between the limits O Buesser Engineering 77 SimApp Catalog Nonlinear elements Dead zone 13 3 11 Dead zone The dead zone element suppresses small signals within the dead zone DL DU Between DL and DU the gain is Gl and GO otherwise The default value for Gl is 0 Therefore the output remains 0 until the input signal has crossed the thresholds DL and DU Dead zone 13 3 12 Pr
47. age Click Rename page Enter a new name Standard pages cannot be renamed 11 2 Moving pages and buttons Click Alt key and the tab or button that you would like to move Move the mouse pointer to the desired place and release it 11 3 Storing objects in palette You can store any objects into the palette These could be standard elements custom blocks and text ob jects or even grouped objects The are stored simply by dragging and dropping 11 3 1 Storing objects from drawings Click the tab of the page in which you would like to store the object or a selection of several objects Then select the desired object in the drawing and shift it toward the palette If you come to the edge of the visible drawing window autoscrolling normally begins You can prevent this by keeping the spacebar pressed The object is inserted into the page by releasing the mouse button If you wish to copy the objects you must press the Ctrl key when you release the mouse button otherwise the objects will be moved into the palette and are no longer available in the drawing A new button with a standard image appears You can as will be described later still move the button within the current page The characteristics of the new button can be adjusted according to your requirements see Process buttons 11 3 2 Storing objects from libraries Click the tab of the page in which you would like to store your objects Open a library Press the Alt key and press a lib
48. age that contains the category the desired object belongs to and then click the button showing the symbol of the object release the mouse button again Position the mouse at the location where you want to paste the object and press the mouse button If you do not release the button immedi ately you see the shape of the object at the pointer s location You can now exactly position the object by dragging and then releasing the mouse button When drawing a block diagram it is helpful to place the blocks first and then connect them 4 3 2 Connecting objects The signal line tool can be activated by the corresponding button on the left and fixed part of the palette This button is seldom used as the wiring tool is automatically activated by moving the mouse over a node of an unselected functional element If the element is selected first click beside the element to unselect it Draw the line to another node and release the mouse button The end of the new signal line will automati cally be linked to the target node Do not draw signal lines across elements For the sake of order only draw horizontal and vertical segments by inserting corners Create corners by momentarily releasing the mouse button while drawing It is also possible to insert or delete corners afterwards when the line is already fin ished See chapter Polylines If you are drawing a line from an object or from the middle of another line click and hold the mouse then drag to the first
49. al equation system 13 3 Nonlinear elements Time simulations can be done irrespective of whether they contain linear or nonlinear elements This is in contrast to the frequency simulation where you may only have linear elements including discrete time ele ments The most important nonlinear functions are available as their own elements With multi function elements you can develop numerous additional frequently used transfer functions If you cannot find the proper func tion try to combine standard elements or use the user characteristic element with which you can develop any characteristic Input and output shift The characteristic of many nonlinear elements can be shifted in the coordinate system The characteristic is shifted to the right by a constant value subtracted from the input signal The characteristic is shifted upwards by a constant value added to the output signal The parameters of the input and output shift are not shown below the block symbol in the drawing if they are equal to zero You can edit them in the simulation proper ties dialog box of the corresponding blocks dU0 dYO OL fos Example The saturation characteristic is shifted by dU0 and dY0 y 4 O Buesser Engineering 73 SimApp Catalog Nonlinear elements 13 3 1 Square Functional relationship y Ku SQR 2 Ku gt gt u 13 3 2 Square root Functional relationship y Kyu SQRT Kyu gt gt u 13 3 3 Invert
50. al to those the ADC uses to produce the input signal Example DAC with resolution of 3 bit and range from 2 to 8 4 111 7 Res 1 DAC Rh 10 Res 8 Bit Ts 01 s O Buesser Engineering 107 SimApp Catalog Converters Analog to binary converter ABC 13 7 3 Analog to binary converter ABC The ABC converts an analog input signal into a binary weighted output signal Each digit has its own output node The valid input range and the resolution are selectable in number of bits number of output nodes The valid resolution range is from 1 to 31 When the input signal leaves the valid range the Underflow UF or Overflow OF output is set In the underflow case the binary outputs are cleared in the overflow case all binary outputs are set Example 3 Bit ABC A NN A A II Overflow Rh 10 Underflow 13 7 4 Binary to analog converter BAC This converter is the counterpart to the ABC It converts the binary input signal that comes in through several signal lines into an analog output signal The resolution number of bits number binary input nodes can freely be selected between 1 and 31 The two selectable limits correspond to the binary values 0 and 11111 1 1 The upper limit can never be reached as it represents the value 2 The maximum input value is 2 1 n number of bits resolution Example 3 bit BAC A Rh BAC BO GO RI Rh 10
51. annuvas 18 6 1 Deseriptlonnua statane aden ee ed aie ee ee ee ein 18 6 2 Connecting Objects cit cite nae eteciee dt ted l bue te 18 6 2 1 Addition subtraction and INVEFSION cccccceeseseececeeececuesscececeseauesseeeeeceseaueaseeeeeeeseaueaeseeeseesuaaeeeeeeeseeanags 18 6 2 2 Branches piiniera a NO 19 6 3 FastieditInd ia A aii 19 6 3 1 Edit block tiles rate odas 19 6 3 2 Changing parameters usunt gards a taria 19 6 4 Simulation properties oooononnincccnnnnnnnnnnonccccncnnnnnnnnnnnonnnncnncnnnnnn nn nnn cnn n nen anne mnnnn rra nn nan mn nn nn EEEE EEEE men 20 6 4 1 Parameter properties ooonoononccccnnnnccnnoconccncnncnonnnoncnncnncnnn nan nen nn nana eaaaaeaeceeeseseaaeaeceeeeesaeaeaeeeeeeeseesneeeeeeeees 20 6 4 2 NO 21 6 4 3 OPtlONS ii A AI E E gee ee ee nee eee 21 6 4 4 Labeling objects and Signal lin S cccccceecccee cece ce terese cece eeeeeeceaeaeeeeeeescaaeaeeeeeeeseeqeeaeeeeeeeseseecaeaeeeeeees 21 Lo Frequency Simulation coccion citen needed cde scenes apaapa aada aaea ha dessecesconceececeteseisteccedeeseaae 23 AT Systemmodeling iii ita 23 7 2 SSA 23 C3 Simulatio mpr perties coat andadas 24 7 4 Start requency SIMULA ria 25 7 50 Resist ona Do 26 7 5 1 A to Tc SOT 26 7 5 2 Special effects A e hela ee ae 26 7 5 3 El VALES neie a td ide 27 7 5 4 Data tables ii anos 28 7 5 5 RO A ide 28 87 AAA A LG 29 8 1 System modeling oestra tia d a ed 29 8 2 Insertion of signal sources and
52. ated by the sampling frequency 21 T The description of a discrete time signal as a triangular pulse train does not fully correspond to reality After sampling the signal is only defined at sampled points kT All the following discrete time elements use only these values Therefore the shape of the pulses is not important as it is not considered in the following proc ess Therefore it is not proper to supply the output signal of a sampler to a time continuous element The resulting signal would not correspond to reality Behind a sampler only discrete time elements are allowed which consider the signal at sample points only and do not care about the values between To supply a sampled signal to a time continuous system it must be held between the sampled points by a hold element But most real and discrete time elements already fulfill this condition as they hold the value of the last sampled point until the new value is applied That is also true for all discrete time elements in Si mApp during a time simulation However in frequency simulations the sample and the hold elements must exist in pairs See introduction to discrete time elements O Buesser Engineering 97 SimApp Catalog Discrete time transfer elements Zero order hold ZOH 13 6 3 Zero order hold ZOH The hold element creates from a series of discrete time values u kT a stair like time continuous output sig nal by holding the current value until a new value is appli
53. ation of the start delay After the start delay has elapsed the value of the first real point is applied If there is no ficti tious point the first real point applies from the beginning before and after the start delay The start delay shifts the whole characteristic to the right on the time axis E g a point at time 2s comes at time 3s if the start delay is 1s Steps are achieved by setting same time for two adjacent points The law of causality must be observed therefore the points must be arranged in ascending time If three or more points have the same time only the first and the last one are considered By setting the option terative the characteristic is continuously repeated If the first point is at time O the characteristic starts its repetitions at second point since the last pulse has priority The values are stored in the source but can also be saved and reloaded to from a text file Description of the data format in the text file e One Y t pair per line e Y and t values must be separated by space tab or semicolon Valid decimal separators are point and comma A data line may be completed by a comment preceded by asterisk e All lines not starting with numeral comma or period are interpreted as comments e The file must be an ANSI or ASCII text file Default name extension is txt but all other valid Windows extensions are also accepted The number of data points is limited to 10 000 Surplus points ar
54. atrix n x p C Output matrix q x n D Direct transmission matrix q x p Ts 0 1 s Parameters n lt 50 p lt 50 q lt 50 Matrix representation Xk 1 1 Ag Ag Am Xka Ba Bi gt Bap Uk Xkrt2 Az A22 Az Xu2 la Ba Boo Ba Ur Xk 1 n Am Anz Ann Xk n Br Bn2 i Bap Uk Yk1 Cy Cr Ch Xk 1 Dis Diz Di Uk 4 Yk2 Ca Co Con Xk2 Da D Do Uk O Yk q Car Caz Xk n D Daz D q1 In real systems the direct transmission matrix D usually is O O Buesser Engineering 105 SimApp Catalog Converters Analog to digital converter ADC 13 7 Converters SimApp makes a distinction between binary and digital converters This is not common practice but it is im portant to describe two types of digital transmission used in SimApp A digital input or output in SimApp consists of a single node that can transmit all bits at one time The digital numerical value is transmitted as a positive analog integer signal e g binary O corresponds to 0 1101 13 decimal corresponds to 13 It does not make sense to mix digital and analog signals therefore the digital signal lines differ in color from the standard signal lines The advantage of this analog coding of digital val ues lies in the small space requirement on the drawing for the element and transmission one line only The binary input and output in SimApp corresponds more to the usual concepts For each individual bit an individual signal line is
55. bles and plots can be printed out or exported to other applications with the Win dows clipboard The plot contains a vertical measurement line that may be moved by dragging with the mouse or by naviga tion buttons at the bottom of the page The point of time is always displayed in the navigator and the corre sponding signal values are displayed in the legend Zoom any diagram area by dragging a zoom frame with the mouse The curves can be edited by right clicking the curve or the corresponding legend item The data in the tables can be selected and copied to other applications by means of the Windows clipboard Columns are adjustable with the mouse 4 4 2 Frequency simulation Frequency simulations are only defined for linear systems since they are based on the superposition princi ple If you have a system model that has non linear blocks consider the system at a particular operating point and replace the blocks with a linear approximation of that block if possible You may wish to save your model in two versions one with non linear elements and one without Since the sample block dia gram contains only linear elements you can also simulate it in the frequency domain without any changes The frequency simulation assumes the input of the simulation is the single source node if you have more than one source you will need to explicitly define the input as shown later in this manual Do not close the window of the preceding time simulation
56. cept constant source use the following basic parameters Offset The Offset shifts the characteristic curve up and down Start delay Elapsed time before the output signal is applied Start delay may be used for synchronizing different sources to each other Start offset initial value Initial output value before the start of the simulation and output value until the start delay time has elapsed y A Ramp Rampe Offset Ps 59935995 e er to Start offset Anfangswert gt t Start of simulation Start delay Simulationsstart Startverz gerung All basic parameters are set to zero as default 13 1 1 Constant The constant source applies an arbitrary positive or negative value which is never changed during simula tion Offset start delay and start offset do not exist Function y t C y A C Constant Buesser Engineering 49 SimApp Catalog Sources Ramp 13 1 2 Ramp The ramp applies a constant slope up to a specified maximum The saturation Ymax is always a positive value and works as a maximum for positive slopes and as minimum with negative sign for negative slopes Function y t At y A Ymax Ramp y g RE s t gt Ss A 1 s 1 K o nnn Fe K lt 0 gt Di Ymax Naa gt oa ao oa ae 13 1 3 Step The edge time is determined by the start delay parameter Function y t H o t TD ya Step H 1 TD Os Buesser En
57. connccccnonocccccnnoncccnononcccnnnonccnnnnnnncnc cnn n cnc nana ncccnnns 38 10 2 Creating custom blocks in the block folder ooooooooonnncccnonnccccnnnonccccnnoncccno nan cccnnnonc nc nnnnn cnc nana ncnnnnnna 39 10 2 1 Introductory examples tia A a aA dl td oe ae LA het Ae 39 10 22 SUMMARY iii tee cece Hoes de tee ine dundrer A ii 42 10 2 3 Relationship between the symbol and structure WINGOW c ceeeeeeeeeeeneeeeeeeeeeeenaeeeeeeaaeeeseneeeenenaeeeeeeaaes 42 10 24 Parameter tablen ienirt devecesenevb Ea e a autentisitet setene 42 10 2 5 Enter the Syste Misette a e eA aa texctagecn deat a e a r na 42 10 26 Formula editor bc A ea e ea kanin 43 10 2 7 Testing the inner system c cccccceeceeeeeceeeeeee cee eeaeee cessed eaaaaeaeceeeeesaaaaeaeceseeecassaaaeeeeeeeceeeesaeeeseseeeeeeeinaeees 43 10 2 8 Inserting node objects and block nodes 0 0 eeeece cence eeeeeeeeeeee eter states nono nnn nn n cnn nano rr rr naar rra r nr ran rra 43 10 2 9 Desighing bloCk SYMDOIS icvcomioisniiioa a iei badende eek er eei a N aa eoa 44 10 2 10 Joining system and symbol EXPOTTIND oooonoccccnnnociconococnnononcncnano nono nono cnn nan nnn nano nn rra 45 10 2 11 Usirig and Saving DIOCKS ici iii 45 10 2 12 BIGCK AEE a EEE R A E EA 45 10 2 13 More remarks on the design of custom blocks ooooconcccnnocicinococcnononcncnanancnnnnan cnn nao n cnn nana nn nr nnnn rca nan nnnnnnnns 45 11 A E In NE ME SE ME Mt 46 11 1 Creating del
58. copied as a whole or by selecting rows or columns The data in the frequency column is included by default 7 5 5 Report The report shows the control parameters and some statistical data of the current simulation UN Frequency response Tables HEX HQ Start frequency Stop frequency Number of values per decade Max phase difference Max amplitude difference Number of intermediate values Memory requirement Computing time hh mm ss Figure 31 Report Buesser Engineering 28 SimApp User Manual Time Simulation System modeling 8 Time Simulation In the introductory example you learned the basic concepts of time simulations In this chapter you will learn how to use time probes and XY graphs and how to set the simulation control parameters 8 1 System modeling The first steps in time simulation are entering a block diagram and setting the block parameters In contrast to the frequency simulation you are no longer restricted to pure linear elements You may use any element from the palette 8 2 Insertion of signal sources and use of time probes Three kinds of probes are available for time simulation Time probes XY graphs see next paragraph and output probes Time simulations need sources that stimulate the system at various nodes Several system nodes can be connected simultaneously to the time probe input The output probe can be attached to a single node measure its o
59. d and comma The first column contains the time values all other columns the associated output values All output values of a line are referred to the time value in the first column The times are arbitrary no equal spaced time interval needed but the value must be in as cending order Steps can be made by setting the same time for two adjacent points A data line can be followed by a comment that is started by asterisk Pure comment lines must only be started by asterisk if the comment starts with a numeral The file must be an ANSI or ASCII text file Default name extension is txt but all other valid Windows extension are also accepted File source sample fil Created by Bruno Buesser Feb 27 2007 This file contains 3 output signals with 5 data points each 1 0 5 0 6 0 8 Optional fictitious first point as initial value 2 45 1 5 8 This is the first set of points Time comes first then data 35075 2 5 4 3 6 Second point Time values are in ascending order 5 3414 4 5 3 3 The values are now separated by spaces gt blank lines are skipped 6 23 2 5 4 15 2 5 Comma is also accepted as decimal separator Lines which start not with numeral point or comma are skipped 8 0 3 8 1 4 That is the last set of points 5 sets of points are loaded gt gt is mandatory as the comment starts with a numeral End of sample file The series are best edited in a spreadsheet like Microsoft Excel and then saved to an AINSI
60. data value per line Format description for the text file e One single data value per line Valid decimal separators are comma and period A data line may be fin ished by a comment preceded by an asterisk e Pure comment lines which start with a numeral must place an asterisk in front Preceding spaces are allowed e The file must be an ANSI or ASCII text file Default file name extension is txt but any other valid Win dows file name extension is allowed The decimal separator depends on the associated setting in the program options comma or period Sample text file Trigger source sample file Created by Bruno Buesser Feb 29 2003 0 First pulse at simulation start Excluded from repetitions 3 67 Second pulse Time values are in ascending order gt Blank lines are skipped 12 Decimal separator may also be a comma Last pulse 5 values gt gt Asterisk is used as comment starts with a numeral By setting the option Iterative the sequence from 3 67 to 8 is successively repeated End of sample file anu O Buesser Engineering 53 SimApp Catalog Sources Driving curve 13 1 9 Driving curve Start and speed up characteristic Function y t f A TV TH yt Tm TH TV fo fa da Driving ll i 177777777 sp curve quadratic quadratisch quadratic gt quadratisch linear A TV s i gt TH 5s TV TV TH 2TV TH t 13 1 10 Noise random number genera
61. documentation or pub lished works provided you give credit to SimApp in a reasonably visible manner LIMITED WARRANTY Buesser Engineering BE warrants for sixty days 60 from delivery to the end user the media on which the Software is furnished will be free of defects in materials and workmanship under normal use This limited warranty extends only to the original licensee Customer s sole and exclusive remedy and the entire liability of BE and its suppliers under this lim ited warranty will be replacement of the defective media or an updated download BE reserves the right to provide an updated edition of the Software instead of the original version The Software is provided AS IS without warranty In no event does BE warrant that the Software is error free or that Customer will be able to operate the Software without problems or interruptions In addition due to the continual devel opment of new techniques for intruding upon and attacking networks BE does not warrant that the Software or any equipment system or network on which the Software is used will be free of vulnerability to intrusion or attack LIMITATION OF LIABILITY AND REMEDIES In no case shall Buesser Engineering its agents contractors or suppliers be liable for any indirect incidental special punitive or consequential damages or losses including without limitation lost profits or the inability to use equipment or access data due to the use of the Software Notwithsta
62. e Y R Tni Th t Every output signal requires an output node The number of output nodes can be set in the block properties dialog box from 1 up to 50 The number of data series in the text file must at least match the number of out put nodes Surplus series are allowed but omitted The output signals all start with the first point The characteristic can start with an initial value or the first point The initial value is set by inserting a fictitious first point with time less than zero The data value of this point applies from the very beginning up to the expi ration of the start delay After the start delay has elapsed the value of the first real point is applied If there is no fictitious point the first real point applies from the beginning before and after the start delay The start delay shifts the whole characteristic to the right on the time axis E g a point at time 2s comes at time 3s if the start delay is 1s The series are repeated each time the stored time interval has elapsed by setting Iterative If the first point occurs at time 0 it is skipped in repetitions as the last point has priority If the simulation lasts longer than the stored sequences and repetitions the last point is used as constant value for the rest of the simulation Description of the data format The data streams and the associated time form a table Columns are separated by tab spaces or semico lons or mixed Valid decimal separators are perio
63. e formula 60 2 Pi 10 2 1 5 Designing the block symbol After you have defined the functional part you need a symbol for the motor block Change to the Symbol page You see an empty frame and free nodes that are labeled with the input and output names If you did not assign names they will be numbered as 1 2 and 3 These are the input and output nodes of the new block Move them onto the frame Input nodes on the left and output nodes on the right Do not press the Alt key for positioning or switch off snapping permanently The nodes must lie exactly on the grid If you are not sure if they do so move them to grid with the button The empty frame has the standard size of 1 6 by 1 6 cm but you can enlarge or reduce it Now paint the block symbol with the SimApp drawing tools 10 2 1 6 Block assembly Now we can join the functional and graphical part to a whole Select the command Extras Block Folder Export Block to Windows clipboard The ready to use block is now in the Window clipboard Change to another drawing or open a new one and paste the block for further use Buesser Engineering 41 SimApp User Manual Custom Blocks Creating custom blocks in the block folder DC Motor ML k 15 La 0 007 H Ra 0 5 Ohm Kf 1 3 Nm A J 0 03 kgm2 Figure 50 The finished block If you have found any errors go back to the block folder and correct them If your block is ok you can store it in a library see chapter Libraries
64. e ideal PID controller comes from the importance of the poles and zeros The assign ment of the parameters to ideal basic elements is not as obvious as for the type controller Functions Step response h t y K Tri Tra U fu t de UT Tro 0 K 1 STp N1 sTr gt 1 si G s K RI R2 S gt 0 t Tri 2T Re Magnitude and phase response Polar plot A i 1 00 Tri Tra gt 0 K Tt Tra O Buesser Engineering 92 PID II io gt K 1 TR1 2s TR2 1s PID II 1 sT 1 5T S TR1 2s TR2 1s SimApp 13 5 11 Real PID controller PID r Catalog Controllers Real PID controller PID r The real PID controller lessens the influence of the differentiator in the high frequency range noise and can be implemented easily Functions t y Tyy K Toi Tao U fu t de Tr Teal 0 1 STp JU sTp gt s 1 sT Tri 2 Tr2 gt Tn G s K 1 VIrilr2 Tri TR2 JTN Magnitude and phase response dB O Buesser Engineering Step response K Tri Tra h t PID r T K E i r 4 o t K 1 TR1 35 i TR2 18 0 t TN 05s Polar plot A o 00 gt 0 K Tr Tgo KIRIR2 PID r TN lt gt 93 SimApp Catalog Controllers 13 5 12 Modified PID controller PIDm Modified PID controller PIDm The modified PID controller is suitable for specific and flexible pole and zero cancellations in the controlled s
65. e ignored on larger files If the data are stored in a text file the value pairs are separated by TAB The decimal separator depends of the setting in the program options User source sample file Create by Bruno Buesser Feb 27 2007 This file contains 5 pairs of values 1 0 5 Optional fictitious first point which acts as initial value 2 45 1 First real point Time comes first then output value 3 677 2 5 Second point The time values must be in ascending order 5 3 14 The values are separated by spaces blank lines are omitted 6 23 2 5 Comma is also a valid decimal separator Lines which do not start with numerals period or comma are skipped 8 0 That is the last pair of values 5 pairs are red gt gt asterisk is mandatory as the comment starts with a numeral End of sample file O Buesser Engineering 55 SimApp Catalog Sources File source 13 1 12 File source The file source may have up to 50 simultaneous outputs The data cannot be stored in the source and is loaded from a text file during simulation Only the file path is stored in the source If you copy the drawing to another computer you must also copy the data file Be aware that the stored file path in the source may not be valid in another environment The file path may be absolute i e with drive letter or relative A relative path refers to the directory of the drawing Function y t f P1 Pp t per curve rectangular rechteckig File sourc
66. e paths Bezier curves which you cannot produce with SimApp Curve paths can be approximated by polylines however For that select a great enlargement 10 30 All curve paths in the standard objects were produced in this way Very important Be sure that all nodes lie exactly on the grid If you are not sure if they do so move it to grid with the xx button Do not switch off the automatic snapping function Set the operation behavior of the objects in the block symbol fl ME Format properties Filling Lines Text Options Can be formatted _ Affects rotation and flip axes of groups or custom block _ Can be selected within a block symbol Can be edited Can be flipped horizontally Can be flipped vertically Can be rotated Can change size horizontally Can change size vertically Figure 51 Options for text objects The check boxes have three states Checked unchecked and indeterminate The indeterminate state is reflected by a grayed check mark that appears if several objects are selected that do not share the same state When closing the dialog box with Ok grayed check marks leave the underlying objects unchanged By clicking the check box the option can be changed to set or unset and is now available for all selected ob jects Within block symbols only text objects can be modified by position size and contents Settings for text objects e Neither selectable nor capable for editing No changes at all e
67. e via the Window s clipboard Copy the block by Edit Copy to clipboard You must not use the standard command Edit Paste however to import it into the block folder This would insert the complete block into the system or symbol window without opening it Select menu Extras Block folder Import block from Windows clip board instead The block is opened and inserted into the two windows lt does not even matter which window happens to be visible Alternatively you may open the custom block s pop up menu and click the Open Custom Block in the Block Folder command 10 2 13 More remarks on the design of custom blocks e You can open several block folders and design several blocks at the same time e The system and the symbol window can be stored together in a file Select File Save or File Save as The file is given the extension sbf e SimApp also accepts time and frequency probes in blocks and affect the simulation in the common way The application of such probes is questionable since they are not visible in the drawing but influence the simulation A possible application would be the automatic monitoring of an internal transmission circuit or an internal node But if you wish to monitor internal nodes it is better to designate outside test nodes or use transmitter receiver pairs e Custom blocks have one block symbol only in contrast to standard elements e If a block contains one or more discrete time elements you must designate
68. ect Rename Enter Test as new text in the window s title bar The two objects inserted from the drawing now have gray buttons with designation X1 and X2 The object that you moved from the palette remained unchanged You can change the text labels X1 and X2 or even replace them by images Please read the appropriate paragraph in the chapter Working with the palette Reopen the library s pop up window and click Processing mode By switching off the processing mode the library window will immediately be reduced and the buttons pushed together Figure 55 The finished test library Open the pop up menu Click Save and save the library under the name Test Click Close in the pop up menu The library disappears but still remains in memory since it is only hidden Select View Toolbars in the SimApp main menu You will now find the name of your library in that listbox Set the check mark of the library and close the dialog box with Ok The library is displayed again Click Remove in the pop up If you have not saved the library yet a request to store will appear Afterwards the library disappears again and you will not find it in the toolbar list Open the library again with Extra Load Library and load Test sib Now it is back again O Buesser Engineering 48 SimApp Catalog Sources Constant 13 Catalog of Standard Elements 13 1 Sources Each source has specific parameters to control the output signal However all sources ex
69. ect lines from each N Drag the line to make a new vertex other by going to Extras Options Signal Lines and checking Va Detach single lines by dragging Rep Move the line Shift Toggles the icon so you can select the desired effect Once the move icon appears you can drag without shift to keep line connections as before or shift drag to disconnect the lines and move the selected segment to a new place You will see a blue dashed line that indicates what the result wille Segment G was moved with disconnect by using Shift Drag Tils Line F was selected then the icon was toggled with Shift to make a new vertex Buesser Engineering 13 SimApp User Manual Drawing Functions Formatting objects 5 28 Text Click the drawing at the starting location of the text object and enter text Press Enter to terminate the input Line breaks are achieved by pressing Ctrl Enter Press Escape to abort the text entry To edit existing text select it and click the text button or double click the text Note For element titles a single click is sufficient 5 2 9 Pictures You can paste bitmaps bmp jpg metafiles wmf emf or icons ico into your drawings through pic ture objects These objects can come from files or from the Windows clipboard With pictures you can dis play graphics which you cannot create with SimApp pixel graphics and sophisticated vector drawings You may create the pictures in a powerful g
70. ed This procedure corresponds to a hold element of 0 th order zero order hold With the hold element one can also create continuous step functions from continuous input signals as the hold element also performs an inherent sampling at its input In the frequency domain however a frequency dependent weighting of the signal occurs and the dynamic systems behavior is only valid in combination with a sampling element Functions y t Y u kT a t kT o t kT T ZOH k 0 Ts i G s l e _7sin oT 2 eiet Ss oT 2 Ts 0 1 s Time response Magnitude and phase response dB a T ZOH gt L 0 WT 2 1T T gt QA Ts 0 1 s O Buesser Engineering 98 SimApp 13 6 4 Sample and hold S H The sample and hold samples the input signal at times kT T sample period and holds the sampled value at its output until the next value is sampled at k T 1 Functions y t Y u kT lo t kT o t KT T k 0 00 1 Ts uke S Y s Buesser Engineering Catalog Discrete time transfer elements Sample and hold S H S H yr Ip Ts 0 1 s Magnitude and phase response dB a 1 a 0 WT 2 T lin pA 0 lin EE EE EE 99 SimApp Catalog Discrete time transfer elements Discrete time integrator Iz 13 6 5 Discrete time integrator Iz There are several methods to implement a discrete time integrator SimApp u
71. eeeseeaaes 85 135 5 Ideal PD controller PDD ci o 86 O Buesser Engineering IV Contents 13 5 6 Real PD controller PDA ico dass 87 13 5 7 Ideal PID controller type L PID h ccoo idiota aa ENAN 88 13 5 8 Adaptive PID Controller 25 22 cocscncacs echedecceecntccneeradedseerescceepbasederepasdcedsnareedsdsetsnescuastadedgeecntdaneesascdseenusccnestastes 89 13 5 9 Industrial PID controller eee ene ee ae en sien aE 90 13 5 10 Ideal PID controller type Il PlDalD oooonccnonnnconnnnoconononcnonananano nono co nano n occ nnno cnn rnnrn cnn nan rn r nana rn ran n nn anar nnnnnnnes 92 13 5 11 Real PID controller PID ee a e Eaa traes 93 13 5 12 Modified PID controller PIDM asisite a a aeae a iea iiair 94 13 5 13 Generalized PID controller PlD 8 oonnncccnnnnncconnnoccnnnonnncnanannnn nono ncnn non nc canon rn rnnnn rra nn 95 13 5 14 Lead Lag controller cia td 95 13 6 Discrete time transfer elementS ooonnnccccnnnniccnonocicccononcccnanoncnc erent ee naar nn r rn rr 96 13 6 1 IO CU CTO iii ia danses 96 AA A e 97 13 6 3 Zeroiorder hold iZ Alec 98 13 6 4 Sample amd hold S H siria abi aeriana aa prana Sadie pa eedit paisagi a Rtt Ries 99 13 6 5 Discretetime integrator 12 roete e reke ann area EE EEEa Eaa E aaa EEKE aLaaa 100 13 6 6 Discrete time differentiator DZ ooooonnnncnninnnicnnnccccnnnonnncconannnnnnon cn nono n cnc iiet iaa dedede iiaae da de dietinis 101 13 6 7 Unit del y Zelement ernn tia 102 13
72. element has n identical time constants The greater n the flatter the step response Functions Step response A Kilo IS fern gt K 1 Tis t Magnitude and phase response Polar plot dB 4 he Ne n 20dB Dec gt PTn r K 1 Ts K 1 T1s Buesser Engineering 65 SimApp Catalog Linear elements Lead Lag element 13 2 10 Lead Lag element This element is a first order rational element Depending on the ratio of T1 to T2 it can be configured as a lead or lag phase element Do not confuse the lead lag element with the lead lag controller which has a second order transfer function Functions Step response t y T y K u Tu h t K 1 T T e n Lead Lag TS G s K i 5 14 1 8 1 gt K 1 Leading T gt T 11055 T2 1s Lagging T lt T Magnitude and phase response dB t K K lt gt gt Lead Lag Buesser Engineering 66 SimApp Catalog Linear elements Rational transfer element G s 13 2 11 Rational transfer element G s The G s element is the general form of a linear transfer element Y s G s U s where G s is a rational function Transfer function b b S b S G s K i a a S a s gt an lt gt 0 and m lt n P I PT1 PT2 and PT1T1 elements are special cases of the G s element Since the numerator order m must not be greater than the denominator o
73. eload Offset This element adds a positive or negative offset to the input value Functional relationship u gt 0 y OU Ku u lt 0 y OL Ku Preload K OU 1 u OL 1 v OL 13 3 13 Backlash S is the maximum saturation value If the input signal cannot reach S the characteristic forms a smaller backlash If the input starts at zero the characteristic follows the new curve a Backlash Buesser Engineering 78 SimApp Catalog Nonlinear elements Minimum Maximum MinMax 13 3 14 Minimum Maximum MinMax This element applies those input signal at its output that is currently the smallest or the largest You can also use absolute values for minimum maximum determination Maximum Minimum Ya yA u1 u1 gt u2 u2 13 3 15 Peak detector This element tracks the input signal and holds the maximum value that has occurred since the simulation start or since the last time the reset signal has been applied The peak detector is reset to the current input signal on the rising edge of the reset signal The output follows the input as long as reset is set Maximum peak Ya Minimum peak Ya Maximum of abso Minimum of abso lute value lute value y 4 y 4 MinMax ul min 2 Maximum peak of Minimum peak of absolute value absolute value y A Ya Peak Buesser Engineering max gt Reset 79 SimApp Catalog Nonlinear elements
74. en Tip Never switch off the snap to grid function Press the Alt key temporarily while dragging an object if you want to place an object more precisely While the Alt key is pressed snap is off 5 4 4 Grouping objects Grouping objects can simplify the task of working with several objects simultaneously Select all objects you want to put in a group and press the Group button ta Ungroup a group by pressing the Ungroup button n 5 5 Important auxiliary keys When you draw block diagrams you usually use the mouse For some actions however you also need one or two keys SimApp uses the following extra keys Alt key The effects of the Alt key depend on the current operation e Pressing the Alt key while drawing inserting or moving objects the snap function is temporarily off This is useful if you want to place some objects more precisely e Press the Alt key before pressing the mouse button if you want to move palette pages or palette buttons Ctrl key The effects of the Ctrl key depend on the current operation e When moving of objects Causes an object to be copied To copy or double an object press the Ctrl key before releasing the mouse button This is also valid for copying objects to the palette or to a library e When inserting objects from the palette Reverses the default setting in the program options Select object after insertion Shift key The Shift key can be used when drawing lines or other objects to cause alignm
75. ent along 45 degree lines It is also helpful in drawing exact squares or circles If this mode is turned on permanently through iZ the shift switches it off temporarily Normally a selection of multiple signal lines and blocks can be moved as a unit while other signal lines re main attached Hold the shift key while dragging the selected objects in order to disconnect them from the rest of the model while moving them to a new place In the program options you may set that signal lines always mutually detach Esc key The Esc key is an abort key when drawing polylines signal lines and text Space bar Press the space bar to suppress auto scrolling This is useful if you want to move an object to the palette Buesser Engineering 17 SimApp User Manual Simulation Objects Description 6 Simulation Objects 6 1 Description Simulation objects are the building blocks of the block diagrams They consist of standard functional ele ments the custom blocks and the signal lines The arrow inside the block symbol indicates the data flow direction through the object The outputs are generally on the right and the inputs on the left edge For feed back loops blocks can be flipped with the flip command 4h You can also create custom blocks that consist of a system of basic blocks or any other user defined blocks The basic blocks usually have two different symbols The default symbol is a schematic representation of the time or frequency r
76. ent group are switched off The time responses of all groups are displayed in the same diagram so that you can stimulate your sys tem in different ways and compare the results The sources of group 0 are special All groups use these sources For example you may use a source from group 0 as reference input and two other sources as disturbance inputs SimApp will perform two simula tions first with disturbance 1 and then with disturbance 2 and display the results in the same diagrams User Oscillator source Figure 35 Example for source groups 8 3 Further remarks about time simulation Inputs and outputs of the system are marked with red dots If you find other nodes that are also marked red this means that they are not connected to any other node This could happen due to improper placement of nodes The system must not have short circuits or nodes without signals If SimApp finds any errors incorrect con nections and signal lines are marked yellow System parts that have no effect on measured outputs are not included in the simulation process Feedback paths without time delays or lags are known as Algebraic loops and not allowed in time simula tions This cannot be done since the output is instantly dependent on inputs and the output In such cases insert a fictitious PT1 lag element in the loop and set the time constant so small usually 2x the integration Buesser Engineering 30 SimApp User Manual Time Simulation XY
77. er Functional relationship y K u yA Inverter D 13 3 4 Multiplier Product The multiplying element computes the product of two input quantities and gain K Multiplier Functional relationship y Kuu Kuu Buesser Engineering 74 Square SQR SQRT Inverter lL gt Multiplier cy SimApp Catalog Nonlinear elements Divider 13 3 5 Divider The divider element divides the input value u by the input value uz and multiplies the result by gain K Divider Divider Functional relationship yak uy 1 uz KT Up 2 gt O Buesser Engineering 75 SimApp Catalog Nonlinear elements Arithmetic element with multiple inputs 13 3 6 Arithmetic element with multiple inputs This element supports basic arithmetic functions of multiple input values such as addition subtraction multiplication and division The number of input nodes can freely be chosen between 2 and 50 Unused Arithmetic inputs without connections are ignored 4 The sign of the input values can be changed in the pop up menu of the associ 2 ated signal lines or by pressing the or key in the numeric keypad when a signal line is selected gt Addition and Subtraction Functional relationship y u U u The subtraction of inputs is achieved by inverting the polarity of the incoming signal line Multiplication Functional relationship y tu x U X tu The negative weighting minus sign of factors is
78. er than the shortest time constant in the system You can quickly estimate a rough value if you know the field of study the system comes from In heating plants you have time constants of seconds to hours Motors have electrical time constants in the range of micro to milliseconds e The delay time of dead time elements must be exactly a multiple of that interval If this is not true the actual dead time can vary by 1 interval If the dead time is less than half the interval it disappears e For a first simulation select Eulers method It is a simple numerical method and leads to short calcula tion times If the system tends towards numerical instability choose the Runge Kutta fourth order method and shorten the interval You can recognize numerical instability if the variation of the integration method and integration interval leads to very different solutions e Step shaped signals can cause inaccuracy and distortions with high order integration methods Use the Euler methods and short intervals instead The quality of the display of the solution curve is determined by the Time between plotted points parameter This has no impact on the calculation only on the number of points shown on plots and in data tables Gen erally you need fewer values for displaying a plot than for the simulation process In general use a Time between plotted points 10 times smaller than the integration interval For discrete time elements you can set the sample per
79. esponse The second symbol shows the mathematical transfer function in the time or frequency domain PT2 PT2 E 1 2dTs T s K 4 T 18 K 1 d 05 Figure 18 Symbols of the PT2 block Choose the default symbol in the options dialog box menu Extras Options Switch between symbols indi vidually in the object s pop up menu The transfer function of a block is controlled by its parameters Each block has its own set of parameters Some of them are displayed just below the block in the drawing and can be edited by simply clicking others can only be changed in the block s simulation properties dialog box You can determine which parameters appear directly in the drawing Every parameter has a default value Parameters of which there actual value differs to the default value are displayed anyway 6 2 Connecting objects Signal lines connect blocks to enable data flow Signal lines behave like polylines except that polylines do not have nodes with connecting capabilities The differences between signal lines and polylines are de scribed as follows The tool button for drawing signal lines is in the static part left side of the palette However the drawing tool is also automatically activated if you place the mouse just on the node of an unselected block A new signal line is started by a mouse click Create corners by temporarily releasing the mouse button A signal line is finished by double click or by releasing the mouse just o
80. et mise au point Kirk Editions 1990 42 C Sueur P VanHeeghe P Borne Automatique des Systemes Continus Edition Technip 1997 43 Yves Granjon Automatique Dunod 2003 121
81. ethod takes more effort but has no restrictions and is suitable as a long term solution 10 1 Creating simple custom blocks by selection You can select any object in a drawing and put it into a new block After selection use the menu command Extras Create custom block All selected objects are immediately replaced by the new block It has a de fault symbol and looks like a basic block wee Tt 1s Figure 46 Create custom block by selection The input and output nodes result from the connections to non selected elements or are open nodes of the selected objects The connections to external elements are not broken Remarks e Do not select signal lines to non selected blocks This will break up connections e If you select summer elements select input and output signal lines as well Buesser Engineering 38 SimApp User Manual Custom Blocks Creating custom blocks in the block folder e Disable open control input nodes of individual elements to prevent them from appearing in the new block e Use the block title to give the block a descriptive name e All parameters of the contained elements appear below the new block and behave like native parame ters You can change their properties as you do in basic blocks e Parameters that you do not want to be changeable must be hidden in advance These parameters act as constants and do not appear on the drawing or any property dialog of the new block e Parameters of grouped elemen
82. eting and renaming palette pages oooononccccnnoccccnnnocccccononcncnnnoncncnannn nono nnnn nn nc nana nnncnnnna 46 O Buesser Engineering Ill Contents 11 2 Moving pages and buttonS imi ride 46 11 3 Storing objects In palettes sok wince dit Adr 46 11 3 1 Storing objects from drawings A 46 11 3 2 gt Storing objects from libraries ivonne idad 46 11 4 Working with the palette buttons ooonnnnccinnnnicinnnoccccnnnocccnnn nono REEDA EARRAS EA I rr 47 11 4 1 Properties of palette buttons rrrrnrrrnrennronnnnrrrnnnntrnnrn annen nn nnornn cede eaaeaeeeeeeseaaeaeeeeeeesecaeaeeeeeeeseseeceeeeeeeeees 47 11 4 2 Designing button images with Microsoft Pailt ooooonnnnnnnnnninnnnncccnnnonnncnonancnn nono no nano nn nr nono rca n cnn rra 47 11 5 Loading SAVING ANG TES NO emociona 47 12 LID MES id tad 48 12 1 EXAM PI sarte 48 13 Catalog of Standard Elements rrnnvrnnnnvnnnnnnnnnnvnnnnvnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnenn 49 13 1 OU s 49 13 1 1 Consta dai ias 49 E E AO 50 13 13 A NO 50 A A geane see cali ne Aara Siege EE ioa decom ates Endret eden gongen te seven i sguceoen ti daare enais 51 13 1 5 TRUSA aktet ene re E AR 51 13 1 6 Pulse width modulator PWM ooonccccnnocicononocnnononcnononannnnnnnn cnn nnonn nn nano rr rre rre 52 13 17 TIMER A A EN O Oc 52 131 8 A Mau eee rn ee sh Maurits nnn alae 53 1341 94 DIVING CUB il idos 54 13 1 10 NR 54 13 1 11 User Sourced a
83. fficulties in con necting a signal line to a summer block 6 2 2 Branches You need branches if you want to distribute a signal to more than one input Figure 20 Branches Create branches by placing a node of a signal line on a corner or a vertical or horizontal segment of another signal line Remove a branch by dragging a node away from the branch location while pressing the Shift key Also press the Shift key if you want to move a block without pulling the signal lines When making a branch the new signal line must be started at the branch point Signals always flow out of the branch in the direction of the arrow If you need to change the direction of a signal line select the line then right click it to open the properties dialog and select Change direction Note that if the change in direc tion is not allowed the line will disconnect and a red dot will appear 6 3 Fast editing You can edit block parameters and titles in the drawing without opening a dialog box 6 3 1 Edit block titles By clicking the title the whole text is selected Position the cursor by a second click on the desired location Press Enter if you have finished Insert line breaks with Ctrl Enter To move the title click the text and hold down the Alt key Note After changing text the title is repositioned automatically Presupposed this feature is switched on in the elements properties 6 3 2 Changing parameters Simply click the parameter value Mo
84. for the sake of practice Press the start button for the frequency simulation M A new window appears that is very similar the preced ing one Buesser Engineering 9 SimApp User Manual Introductory Example Simulations VA Frequency response File Plots Tables e XI AQDP De BS Bade plot Black s plot Nyquist plot Eigenvalues All outputs Report dB Amplitude lt r 1 vel 1 eet et ee eet ee bo een 01 0203 05 1 2345 7 10 20 30 50 70 100 MAs CI Figure 9 Frequency response The window contains several pages with various plots a table of all simulation data and the eigenvalues characteristic values of the system UN Frequency response Tables X AALS Bode plot Black s plot Nyquist plot Eigenvalues All outputs Report Nyquist Nyquist Bode i ed Error Error Error PT2 P PT2 Ampl dB Real part Imag part Ampl dB Imag part 0 1 0 031781 0 99589 0 030275 0 039592 0 030275 0 10233 0 033283 0 99569 0 030993 0 041462 0 030993 0 10471 0 034855 0 99549 0 031729 0 043419 0 031729 0 10715 0 036503 0 99528 0 032484 0 04547 0 032484 0 10965 0 038228 0 99505 0 033257 0 047618 0 033257 0 1122 0 040035 0 99482 0 034049 0 049867 0 034049 0 11482 0 041928 0 99457 0 034861 0 052223 0 034861 0 11749 0 04391 0 99432 0 035694 0 05469 0 035694 0 12023 0 045987 0 99405 0 036547 0 057274 0 036547 0 12303 0 048162 0
85. formulas are omitted and the current parameter values are used instead 10 2 8 Inserting node objects and block nodes The input and output nodes of the inner system must be connected by node objects The insertion of node objects causes the creation of block nodes in the symbol window Related node objects and block nodes Buesser Engineering 43 SimApp User Manual Custom Blocks Creating custom blocks in the block folder always have the same name When you change the name in one window the name of the associated object in the other window is immediately adjusted The name appears in the complete block as node label 10 2 9 Designing block symbols The empty frame and the arrow are created automatically If you have many nodes you can enlarge the frame The fill color of the frame corresponds to the standard color also used by basic blocks You can des ignate any shape to use this fill color by setting the option Background color for simulation blocks in the for mat properties dialog box Do not insert simulation objects into the symbol window Direct inserting such objects is however not pre vented by SimApp and are removed by block exportation Use the block title edit box for block title editing Common text objects are not recognized as block title Draw a symbol that clarifies the functionality of the block If necessary use objects from other drawing pro grams and insert them as pictures This particularly applies to curv
86. g the first segment At the end of the first segment where you want to insert a corner release the button To make the next segments you may move the mouse to the next corners and click again Double click at the end of the last segment to finish the line Select the pop up menu item Close Shape to close the shape to a polygon and to open it again When you have finished the polyline you can choose between two processing modes In the first mode the object is selected as a whole You can change size and move it However individual corners and endpoints are not accessible The second mode allows the processing of the corners and endpoints Right click on the shape and select Edit Points Then corners can be individually moved and deleted In this mode you can also insert new corners Switch between these two modes in the object s pop up menu Buesser Engineering 12 SimApp User Manual Drawing Functions Drawing objects The following remarks refer to the point processing mode Move a endpoint or a corner by clicking the mouse and moving it to a new location Move a single segment by first pressing the Ctrl key and then clicking it with the mouse Drag it to a new location and release mouse button and key Note The line is doubled if you press the Ctrl key after pressing the mouse button Insert new corners or split segments by first selecting the line Then press the shift key press on the location where you want to split a segmen
87. g tools Many objects such as rectangles or lines are made by clicking and dragging the mouse They finish auto matically where the left mouse button is lifted Then they display blue handles that you can drag to resize the shape You may also move the shape by clicking near the middle and dragging it to a new place Poly gons and Polylines behave differently as described below Each object has a pop up menu that can be found by right clicking on it 5 2 1 Lines Draw lines by simply pressing and dragging the mouse 5 2 2 Rectangles and squares Rectangles and squares are also simply drawn by pressing and dragging To draw precise squares press the Shift key while dragging 5 2 3 Rounded rectangles and squares Rounded rectangles and squares are drawn like normal rectangles and squares You can convert a normal rectangle or square to a rounded rectangle or square and vice versa by clicking the Rounded corners menu item in the object s pop up menu 5 2 4 Ellipses and circles Draw ellipses and circles by simply pressing and dragging To draw a true circle press the Shift key while dragging 5 2 5 Polylines Polylines consist of multiple straight segments connected by corners or nodes A Polyline can be closed to form a polygon Signal lines the wires to interconnect the functional elements behave very similarly to polylines The end points are shaped as nodes Start drawing a polyline by pressing the left mouse button and draggin
88. gineering 50 SimApp Catalog Sources Oscillator 13 1 4 Oscillator The oscillator generates sinusoidal rectangular or triangular output signals Frequency amplitude and initial phase are adjustable Rectangle Rechteck Oscillator The oscillator may be operated as a voltage controlled oscillator VCO by means of the modulation input port Either the output frequency is proportional to the input signal f fO x Mod linear modulation or expo nential to the input signal fO x 10 exponential modulation When the modulation input port is not used the output frequency is constant f fO 13 1 5 Pulse The pulse source applies a series of identical pulses Either the sequence consists of one single pulse N 1 or of several pulses e g N 6 or of an infinite number of pulses N lt 0 The rising slope always precedes the falling slope Before the beginning of the rising slope the falling slope must have finished If the rising slope is longer than the period it finishes at the end of the period and the falling slope is omitted Buesser Engineering 51 SimApp Catalog Sources Pulse width modulator PWM 13 1 6 Pulse width modulator PWM The pulse width modulator generates a rectangular output signal of desired frequency phase and amplitude The ratio between Ton Toff is controlled by the input signal between 0 and 100 The rising edge always matches the beginning of a new period of the
89. he drawing of the block diagrams is done graphically by placing functional elements into the drawing and connecting them with signal lines The most important parameters gain time constants delays etc can be entered directly in the drawing without the need to open dialog boxes Addi tional graphic forms lines rectangles circles etc and text are helpful for documenting the block diagrams The object palette of SimApp consists of more than 80 functional elements Often used subsystems can be grouped and saved into the palette or libraries You can also create your own specialized blocks custom blocks that consist of the available functional elements and other custom blocks They can be used in the same way as standard elements and let you adapt SimApp to your special needs The time and frequency response can be captured and analyzed at any system node Special time and fre quency probes are available for extended tasks For example you can capture and compare the frequency response of the open and closed loop of a control system in one run Another special probe allows two dimensional displays in the time domain SimApp has a multiple document interface This means that you can open more than one document at the same time to run simultaneous simulations 1 2 Who can or should use SimApp SimApp is suitable for students technicians engineers and scientists who want study dynamic systems and would like easy intuitive operation
90. he positive going edge of the Clock Pulse After the Clock Pulse the Data input is locked out and information present will not be transferred to the outputs until the next rising edge at the Clock Pulse input The logic initial value is selectable The output can be delayed by one integration step by setting propagation delay Inputs Outputs Set Reset CP D Q Q H L X X H L L H X Xx L H H H Xx xX H H L L i H H L L L a L L H L L L X Qo Qo 13 8 10 Monoflop The monoflop has a positive transition triggered input T and a asynchronous reset input R Triggering sets the output Once triggered all input transitions at the trigger port are ignored as long as the output is high See options The output is reset after the on time Ton has elapsed or when Reset is asserted The output cannot be set when Reset is high Options Reset option The output is cleared as soon as the trigger signal goes back to low otherwise it waits Ton Retrigger option The monoflop can be retriggered i e when the trigger input fires again the high state is extended by another Ton interval A Reset Monoflop Trigger tn Ton i RJL gt Output 7 Ton 1s Ton y Reset Retrigger Option Option O Buesser Engineering 113 SimApp Catalog Logic On off delay 13 8 11 On off delay This logic delay element has a positive transition triggered T and a asynchronous Reset R input
91. however if the simulated frequency range is significantly smaller than the sample period If the system for frequency simulation is purely linear the sample and the hold element may be replaced by a combined sample and hold element Please Note Each analog element or controller has the option to operate as a discrete time element The check box Time discrete simulation allows application of a sample period to the incoming signal and it has a ZOH at the output The time discrete model is derived from the linear model by substituting the complex frequency s jw in the linear transfer function by a forward backward or trapezoid substitute Forward substitute s z Z 1 Backward substitute S hz Trapezoid substitute s el hz 1 whereas the h is the sampling period O Buesser Engineering 96 SimApp Catalog Discrete time transfer elements Sampler 13 6 2 Sampler The sampler element samples the input signal at sampling points kT T sample period and supplies a pulse train at its output MT t kT Sampler A T Ts 0 1 s EA A x t T h T h Time domain Sampler y t Nules KT kTs a kT ZE 1 h 2 lt t h a p otherwise Frequency domain 1 lt 27 Y 0 gt Uo n way Derr where Ulo is the spectrum of the continuous input signal The spectrum of an ideally sampled signal u t is equal to original time con tinuous signal weighted by the sample period T and periodically repe
92. ibited unless the appropriate number of licenses is obtained ACADEMIC EDITIONS Academic users and students must provide proof of qualified status prior to registering for a license The Student license expires one year from the date of installation TRANSFER If you change the hardware where SimApp is installed you must completely remove the Software from the mass storage attached to that computer Simultaneous installation and use of the Software on more than one computer stand alone workstation or network server is prohibited You may make a one time transfer of your license to another person The transfer must include all the Software documentation upgrades and media associated with the Software That person must re register in his ner name and accept the terms of this EULA After the transfer you must completely remove the Software from the computer in which it was originally installed You are authorized to keep one copy of the Software as a backup copy It is prohibited to decompile disassemble or reverse engineer the Software or to try to get the source code of the Soft ware by any other means It is prohibited to change or translate the Software or to produce derived products You may not rent lease to others or commercially host this Software Use of documentation and help information is for internal non commercial use only You may use information you create with SimApp such as model diagrams time and frequency plots in your
93. in the drawing Second order lag element PT2 Parameters Options K Adams TE TY 2dTy y Ku Ala of parameter 0 Parameter properties Common Gain C multiple Time constant C multiple Damping 0 C multiple Initial value y t lt 0 i C multiple Initial slope C multiple Discrete time Time discrete simulation Sampling period C multiple apply to all discrete time elements Integration rule Forward Figure 7 Properties dialog box of the PT2 element 44 Simulations After drawing a block diagram without error you can perform time and frequency simulations 4 4 1 Time simulation First we are interested in the system s step response Press the start button for the time simulation g A new window consisting of several pages appears On the top page you see the plot of the step response at the system s output nodes By default output nodes are named for the blocks that generate those outputs Buesser Engineering 8 SimApp User Manual Introductory Example Simulations a T fas Time response File Plots ve 1 AQAP Y Source group 0 PT2 0 97373 Error 1 0263 Step 1 oe a So li n se rr lili 05005 1 15 2 25 3 35 445555665 7 75 8 85 9 95 10 105 11 KIKE OC Figure 8 Time plot On the second page you find the simulated values in tabular form The third page shows the parameters of the current simulation Ta
94. in the next simulation run The number of parameter sets in each individual element in the model may not equal this value The elements may have more or less sets e For elements with more parameter sets all surplus sets are omitted e For elements with less parameter sets the last existing set is used in place of the missing sets e For elements with no parameter sets at all the base parameter values are used instead You can give different settings for time and the frequency simulations 9 2 Starting parameter variation Start parameter variation as you would for normal simulations Parameter variation is performed only if the check box Use parameter variation in the simulation properties is checked SimApp runs a simulation for each parameter set and presents the results in the same output window Each legend entry is preceded by the index of the parameter set The colors can be controlled in the simula tion properties O Buesser Engineering 36 SimApp User Manual Parameter Variation Starting parameter variation UN Frequency response File Plots Tables e s l 299 DE BS BK Bode plot Black s plot Nyquist plot Eigenvalues All outputs Report All outputs dB Amplitude PT2 1 Ampl dB 1 Phase 2 Ampl dB 2 Phase 3 Ampl dB 3 Phase 4 Ampl dB 4 Phase 5 Ampl dB 5 Phase 6 Ampl dB 6 Phase 1 teat ene 1 02 03 0405 07 1 2 3 4 5 OR 0
95. into the palette see chapter Palette or into a common SimApp drawing 10 2 2 Summary You have learned the necessary basic steps for creating custom blocks As an overview we will enumerate all steps 1 Open a new block folder 2 Define new parameters in the parameter table 3 Draw the block diagram of the system you want to put in the block 4 Enter the formulas for the parameters of the system blocks 5 Test the inner structure 6 Denote the input and outputs by connecting them with node objects 7 Design the block symbol and move the nodes on the block frame 8 Join the system and the symbol by exporting the block into the Windows clipboard 9 Paste the block into a drawing 10 Store the block into a library or into the palette 10 2 3 Relationship between the symbol and structure window The inner system of a custom block is connected to other blocks over the external nodes The external nodes cannot be created in the symbol window They are created by inserting node objects into the system window Node objects designate the inputs and outputs of the inner system The node object and the asso ciated node in the symbol window build an inseparable pair Deleting a node object in the system window also deletes the associated node in the symbol window and vice versa Every new pair gets a unique ID so that you can see which node and node object build a pair However it is advantageous to replace the num ber by a descriptive
96. iod individually Usually the sample period is unique in a discrete system In this case it is more efficient to set the sample period globally in the Default sample period dialog box Buesser Engineering 32 SimApp User Manual Time Simulation Start the time simulation 8 6 Start the time simulation Start the time simulation with menu item Time Start by button Q or with the drawing s pop up menu 8 7 Simulation results 8 7 1 Time diagram The time diagram displays all measured signals from one probe Every probe and xy graph has its own dia gram a Time response File Plots e f LAAPO 2 Time 1 Data group 0 Report 4 1 AR sa te i mate fom fame ft fs ganen 05005 115 2 25 3 35 4 45 5 55 6 65 7 75 8 85 9 9510 105 11 Mar CIC Figure 40 Time diagram The legend is structured hierarchically Every source group has its own section 8 7 2 Data tables Every source group creates a data table The table can be copied in part or in whole by selecting appro priate sections The time column is always included even when not selected FIN T ey Time response Tables Time 2 Time 1 Data group 0 Report Time 2 Time 1 Amplifier Oscillator 0 0 0 0 0 15707 0 15707 0 015707 0 31411 0 31411 0 031411 0 47106 0 47106 7 8537E 06 0 047106 0 62791 0 62791 3 1373E 05 0 062791 0 78459 0 78459 7 8329E 05 0 078459 0 94
97. ions all discrete time elements have a virtual sampler at their inputs and a virtual hold element at their outputs Discrete time elements may be placed anywhere in the system Sample and hold elements are allowed but not required In both cases the signal process is unchanged During frequency simulations however the transition from the discrete time to the continuous process and vice versa is very important The sampling process produces constant weighted sideband signals with the periodic repetition of the spectrum of the continuous time signal The hold element exhibits a low pass char acteristic with frequency dependent weighting The Nyquist sampling theorem states that a sampled analog signal can be perfectly reconstructed from the samples if the sample rate exceeds twice the highest fre quency in the system In the range of half the sampling frequency and above strong distortions occur poles and alias frequencies Therefore in sampled control systems the sample period must be sufficiently short and the harmonic distortion produced by aliasing must be eliminated by a low pass filter before the sampling process In practice sampling should be done at least at 5 10x the highest frequency of interest Sampling Holding 1 Fo AN Fjo 0 o COIN 0 Og 205 FX aN 2N r RE S 705 0g 0 Og Og 9 2 2 Sv To get a valid frequency response the sample and the hold elements must be correctly placed They may be omitted
98. itch snapping temporarily off by pressing the Alt key Outflow Z Water PN Desired Controller Amplifier Valve tank Liquid level dH level hd h K T d Distance Voltage Transformer K 1 Tt 0 3 s Figure 23 Labeling objects and signals The output node of a summer block can not be labeled Change the block title instead Buesser Engineering 22 SimApp User Manual Frequency Simulation System modeling 7 Frequency Simulation In the introductory example you learned the basic concepts of frequency simulations In this chapter you will learn the use of frequency probes and the settings of the simulation control parameters 7 1 System modeling The first steps in frequency simulation are entering a block diagram and setting the block parameters Note that you may only use linear elements or discrete time elements that are also linear elements Frequency response analysis requires that systems follow the superposition principle are linear That is the output of such a system is the sum of all the individual inputs Clearly this is not the case for nonlinear systems If you have a system with non linear elements and you wish to do frequency analysis the easiest way forward is to define an operating point by replacing all sources with steps using the time simulation to see the input value to each non linear element and then determining the slope of each non linear element at that operat ing point Replace each of these ele
99. lag Berlin 1994 Mann Heinz Schiffelgen Horst Froriep Rainer Einf hrung in die Regelungstechnik Carl Hanser Verlag Munchen 1997 4 Wegener Adolf Analoge Regelungstechnik Carl Hanser Verlag Munchen 1995 5 Bossel Hartmut Modellbildung und Simulation Vieweg Verlag Wiesbaden 1994 6 Schwarz Hans Rudolf Numerische Mathematik B G Teubner Stuttgart 1993 7 F llinger Otto Lineare Abtastsysteme Oldenburg Verlag Munchen 1993 8 F llinger Otto Nichtlineare Regelungen I Oldenburg Verlag Munchen 1993 9 F llinger Otto Nichtlineare Regelungen II Oldenburg Verlag Munchen 1993 10 Fo llinger Otto Laplace und Fourier Transformation AEG Telefunken 1980 11 Lutz Wendt Taschenbuch der Regelungstechnik Verlag Harri Deutsch 12 Norbert Grosse Wolfgang Schorn Taschenbuch der praktischen Regelungstechnik Hanser 2006 English 21 Kuo Benjamin C Automatic Control Systems Prentice Hall 1995 22 Kuo Benjamin C Digital Control Systems Holt Rinehart and Winston Inc 1980 23 Kailath Thomas Linear Systems Prentice Hall 1980 24 Gibson John E Nonlinear Automatic Control McGraw Hill 1963 25 Atherton D P Nonlinear Control Engineering Van Nostrand Reinhold Company London 1975 26 Slotine Jean Jacques E and Weiping Li Applied Nonlinear Control Prentice Hall 1991 27 Ogata Katsuhiko Modern Control Engineering Prentice Hall 2002 Francais 41 BHALY Boucles de R gulation tudes
100. lementation derivative and integral part are arranged in series whereas in the parallel implementation D and are in parallel and so do not interact with each other In both forms the and D channels can also be switched to operate on the measurement input process variable rather than error signal Parallel form manual input Feed Forward Input manual Process Variable Serial form manual input Feed Forward Input auto manual Set Point Anti W indup Process Variable Features and settings PonPV Off P channel reacts to the error signal default setting On P channel reacts to the process variable PV and so eliminates or reduces if D is still present transfer of set point value discontinuities to control signal DonPV Off Derivative operates on the set point change default setting O Buesser Engineering 90 SimApp Catalog Controllers Industrial PID controller On Derivative works on the process variable PV and so prevents impulses on control signal caused by discontinues jumps on the reference signal Feed forward action The feed forward channel lets the process change independently of process error and allows faster or ear lier reaction to set point disturbances Manual mode In manual mode all regulation tasks are done through the manual input terminal A special feature is the bump less transfer between manual and automatic mode When switching from auto
101. lpass shows good results in the frequency domain The magnitude characteristic is exact and the phase characteristic matches that of the pure time delay up to a frequency of 10 But in the time domain the step response is rather unruly the initial value depends on the order n being equal to 1 or 1 although it should be 0 followed by an intensive oscillation By means of the second approximation you can obtain better results in the time domain O Buesser Engineering 68 SimApp Catalog Linear elements Dead time PTt Pad Approximation The rational transfer function of the Pad approximation is n 1 1 Vb Tisi n G T s amp where a ora i 1 n io i n n 2 2n 1 1 VaT s j 1 b en 77 EEE i M2n 142n 2 2n i The Pad approximation does not have the exact allpass characteristic of the Pad allpass However the step response is much better The initial value now is zero Which method to should you use If you perform time simulations you should use the ideal dead time element without any approximation The response is absolutely exact without any distortions or over and undershoots But the need of buffer mem ory can be rather high for long dead times If your computer is short of main memory an approximation might be indispensable If the dead time element is close to the input of the system where effective steps and spikes can occur you should use the Pad approximation because
102. ltiple iNDUtS 00 0 eee ee ente ee eeee ee ee eae ee eeeaaeeesaeeeeesaeeeeeeaaeeeenneeeesenaeeeeeeaaes 76 13 3 7 Function element with single iNpUt oooonnccinnnnnnnnncccnnnocnnnnononnnononn conan nn nn nono uttu netk nr naar rn rr narran rr rre 76 13 3 8 Function element with double iNput oooonnncnnnnnnnnnncccnnnocnncnononnnononn conan nn nn nono nnn ran n nr naar rr rr nnnn rra n rin 77 13 3 9 User characteristics patio 77 13 3 10 Sata REE EN NE EE canst cuqehabthoemmnessepbaunetines 77 13 3 11 DG AG ZOMG Lunde a yark tddi ia 78 13 3 12 Prelo d Offset unde eee TEETAN T ET 78 13 3 13 Backlashissa eie e A AE EES EEE aE a vet duane vey tenn dydene 78 13 3 14 Minimum Maximum MinMax ocoooccnnnoccncnononnnononononononcncnnnn cnn ran n cnn nan unutk t AnAk Anat nn rra EAEAN nan nn er annn rra nar nnecinnns 79 13 3 15 Peak detector ecrimisilin nakep iaaa a iein dene takket de daler di onde de thant theweaes contadas 79 13 3 16 StUelbhx 424 80 13 4 ACUAOMS sense nen eneren el 82 13 4 1 Rate limteruu 0 gaesrnsasasd rss 82 13 42 Constant A de enn sved it 82 13 5 GOntrollers oreren dude danos 83 13 5 1 2 point step controller coccion ai bara need gade e 83 13 5 2 3 point step controller ii eee es meet cswengd nenslanteh udlenesectanedssconane dct TAS a AE A aANT 83 13 5 3 Ideal Pl controller Pl coords 84 13 5 4 Modified PI controller PI M 0 0 0 eee ceeeeeceeeeeneeeeeeeeeeeeeaeeeeeeeaeeeeeeeeeeesaeeeeeeaaeeeseeeeeeeeaeeeeseaeeeenneeeeeen
103. mat properties Filling Lines Text Options Width Styles o E 110mm Hairline Line color A Gap color Preview 100 Transparent End caps BD Round Line joins l Found Figure 15 Format properties for lines The format property sheet always shows the current attributes of the selected objects You can keep it open as long as you like After changing any attributes the new values are not immediately applied You must first click the Apply button If you click the Ok button the changes are applied and the property sheet is closed Press the Close button to discard any changes and close the property sheet 5 3 2 1 Options The options page contains the processing options for the selected objects Options can be enabled or dis abled These options are especially important for building the symbol of custom blocks See chapter Custom blocks O Buesser Engineering 15 SimApp User Manual Drawing Functions Rearranging and changing objects fm Format properties Filing Lines Text Options Can be formatted Affects rotation and flip axes of groups or custom block _ Is symbol or frame for custom block Can be flipped horizontally Can be flipped vertically Can be rotated Can change size horizontally Can change size vertically Figure 16 Options for a rectangle The check boxes can have three states The mixed value state grayed check mark indicates that the values for an option
104. me unacceptable long If you encounter such problems you can take the following actions 1 Enable the Propagation Delay option only for one logic element in the feedback loop 2 Reduce the integration step size by factor 10 13 8 1 GND Ground logic 0 false Connects an input port to ground and acts as a source that supplies a value of 0 Nor mally open logic input ports are interpreted as a ground connection You can rotate this element in 90 degree steps for correct positioning in the drawing r 13 8 2 V logic 1 true Connects an input port to logic 1 and acts as a source that supplies the logic 1 value For correct positioning in the drawing you can rotate this element in 90 degree steps o 13 8 3 AND gate This multiple input logic element performs the Boolean operation Y l el e el AND n The number of inputs is freely selectable between 2 and 50 The output can be delayed by one integration step by setting propagation delay The 2 gt NAND function is achieved by a subsequent NOT gate Buesser Engineering 110 SimApp Catalog Logic OR gate 13 8 4 OR gate This multiple input logic element performs the Boolean operation Y l l 1 OR 1 The number of inputs is freely selectable between 2 and 50 2 The output can be delayed by one integration step by setting propagation delay The 2 gt NOR function is achieved by a subsequent NOT gate 13 8 5 Exclusive OR gate XOR non equivale
105. ments by a gain that reflects that slope Consult a control system book in the Bibliography for more details Note There are some elements with selectable transfer functions in the nonlinear pages of the palette e g arithmetic element function element with one or two inputs If you select a linear function you may also use that element 7 2 Frequency probes After modeling the system you can determine which subsystem to analyze The simplest case is a system with only one single input for which you are only interested in the input output response In this case you do not need any probes and can just press the start button Note You can achieve one single input by deactivating all open input nodes that should not contribute to the frequency simulation Some blocks have special input nodes e g reset input of integrator that are not rele vant for frequency simulations These nodes are omitted by SimApp automatically and do not need to be considered in a special way Frequency probes allow you to determine the response of any linear subsystem within the system even if the subsystem does not have its own inputs and outputs Frequency O Figure 24 Frequency probe Each frequency probe has two terminals The left terminal is an output that feeds the system with a sinusoi dal test signal The terminal on the right is an input that can be connected to several system nodes The input terminal of the probe is the measurement input To c
106. merical integration method SA EXE Euler Cauchy Heun predictor corrector method nae Runge Kutta order 3 C Use parameter variation Runge Kutta order 4 Number of parameter sets max 100 L Parameter variation Color of plot lines Default sampling period 0 1 ais v Use same color for all sets C apply to all time discrete elements currently in the drawing O Use different colors C Save current properties as defaults p i Figure 39 Parameters and options for time simulation Enter simulation duration The simulation always begins at time 0 Numerical Integration The simulation is done by numerical integration of differential equations as defined by the block diagram The simulation time is divided into short time intervals of equal length During these intervals the actual solu tion curve is approximated with straight line segments The manner of computing the segments varies from method to method The accuracy depends on the method and the interval Smaller intervals and the use of complex approximations will lead to more accuracy and also longer computation times The optimal interval depends solely on the simulated system Difficult systems that tend to instabilities may need some attempts to find out the best integration method and interval As a rule follow these guidelines e Use an interval that is smaller than the reaction time of the system For good results use an interval that is 10 times small
107. mple if you enter h instead of H Henry for magneto electric induc tion the value is evaluated as hours and SimApp multiplies it internally by factor 3600 one hour As H is an unknown unit SimApp uses the value as it is Micro is represented either by u or u for convenience This unit represents 1E 6 6 4 3 Options Set the object title and determine which parameter items are displayed in the parameter list in the drawing As default mathematical symbol value and unit are displayed 6 4 4 Labeling objects and signal lines It is important that you label your block diagrams carefully The names of objects and signal lines are also used in the plots and data tables Each element has a name that is displayed as title just above the block symbol The default name corre sponds to the native function of the block Change the name so that it describes the real operation it per forms in the system A water tank can be modeled by an integration block Therefore change the name from Integrator to water tank O Buesser Engineering 21 SimApp User Manual Simulation Objects Simulation properties Signals take over the name of the block from which they come If a block has several outputs all signals will have the same name To change the name of individual signals use the pop up menu of the associated output nodes by right clicking the nodes The element must not be selected After entering a name you have to position it correctly Sw
108. name 10 2 4 Parameter table By means of the parameter table you define the external parameters of the custom block that behave like native parameters of basic blocks The table has 3 columns Each row may contain a parameter The first column contains the space saver which you use in formulas The second column contains the symbol and the third a typical value Double click a row to enter a new parameter into the table You could also select a row with the mouse and press Enter Blank rows are allowed The parameters in the finished block appear in the same order as in the table If you leave empty rows you can later insert new parameters Existing parameters can not be moved to another row They must be deleted and inserted again You can remove single parameters by selecting the row and pressing the Ctrl and Del keys simultaneously If you double click a row you can define a new parameter or change an existing one Note that the input of a symbol is mandatory If the field of the symbol is blank the parameter is immediately removed when you close the properties dialog box The values of the parameters can be arbitrary but it is advantageous to enter typical values as they are used for testing the formulas 10 2 5 Enter the system Use any object of the palette to draw the inner system or even other custom blocks By using sources be aware that their group number is zero otherwise they will produce additional simulation runs You can also
109. nce This logic element performs the Boolean operation Y 1 OL resp Y l 1 resp Y 1 el 1 el XOR 1 The number of inputs is two and is unchangeable The output can be delayed by one integration step by setting propagation delay 2 gt The EXNOR function Y l equivalence is achieved by a subsequent NOT gate 13 8 6 Inverter NOT gate This element performs the Boolean operation Y or Y not I The output can be delayed by one integration step by setting propagation delay o bo The NOT gate has two symbols The first symbol is a small circle so that the inversion of an input or output signal of another gate needs as little space as possible The second symbol is a triangle for independent use O Buesser Engineering 111 SimApp Catalog Logic SR flip flop 13 8 7 SR flip flop A high level at the Set input sets the output Q to high Q to low and a high level at Reset input resets the output If both inputs are reset the output is not changed If both Set and Reset are set the output state depends on the option Set dominant If Set Dominant is true the output is set when both Set and Reset are high at the same time If Set Dominant is false the output is reset when both Set and Reset are high at the same time If Positive edge triggered is active the state changes only occur at positive input edges otherwise the static values are decisive With positive edge triggering there is no outpu
110. nding any damages you may incur for any reason your exclusive remedy hereunder shall be limited to the lesser of 5 Swiss Francs or the amount actually paid by you for the Software You agree to indemnify and defend BE against any lawsuits or claims resulting from your use of the Software User Manual SimApp Version 2 6 for Windows 2000 XP Vista This manual and the SimApp software are protected by copyright All rights are reserved by Buesser Engi neering Copying or reproduction in whole is permitted if the copy is complete and unchanged including this copy right statement Copying or reproduction in part is forbidden Claims against Buesser Engineering that are above and beyond the warranty are invalid Specifically Buesser Engineering accepts no responsibility for the validity of the contents of this manual Changes to the software can be made at any time without notice All trademarks are named exclusively for information purposes Edition February 2009 Copyright 1998 2009 by Buesser Engineering SimApp Contents Contents To INFO AUCTION EEE di 1 Tels Whatis SIMAPD TO Latas di A AECA a 1 1 2 Whocan or should use SiMmAPp Z nars arrasi idenana eee ceeeee a e e ee a aiandi eaa 1 130 SUSING helped T AEE EE E A yeh A 1 1 3 1 Lainch help application aspi isesiierekaks peiie naian inean aade apaa a aa at aaa tus eutieececeshen cveaht Eriksens 1 1 3 2 Context sensitive Help ai a jer a a aap eben a a a a 1 A o 0 A ON 2
111. nds is only available in the online help Use the context sensitive help R if you need information about buttons property sheets and dialog boxes or search in contents and index in the Help menu We assume that you have basic knowledge of Microsoft Windows and using computer programs Further more this manual is not a textbook about modeling dynamic systems or automatic control systems Please refer to the bibliography at the end of this manual for references on these subjects Acknowledgments would like to thank the following persons for their valuable contribution to the success of SimApp Prof Dr Ing Ivan Vaclavik Haute Ecole d Ing nierie et de Gestion HEIG VD Institut d Automatisation industrielle iAi www iai heig vd ch Route de Cheseaux 1 CH 1401 Yverdon les Bains Switzerland for his long lasting technically competent commercial and last but not least moral support of the project Prof Michel Etique ing dipl EPFL Haute Ecole d Ing nierie et de Gestion HEIG VD www heig vd ch D partement des Technologies Industrielles TIN Route de Cheseaux 1 CH 1401 Yverdon les Bains Switzerland for translating the program texts to French which enabled the first French user interface of version 2 Prof Michel Huguet agr g de m canique Lyc e Jacques Amyot d Auxerre lyc89 amyot ac dijon fr Classes Pr paratoires aux Grandes Ecoles PCSI PSI 3 rue de l tang St Vigile F 89015 Auxerre France fo
112. nominator Functions Step response y 2dT y T1 y K u Tu A h t PTa2 G s K me s 1 2dT s Ts 1 An ot T1 18 T2 1s 0 d 0 5 Magnitude and phase response Polar plot Bsp fur T1 1 T2 1 d 0 5 dB A 0 PTa2 IAS IS O Buesser Engineering 71 SimApp Catalog Linear elements Linear differential equation system 13 2 15 Linear differential equation system SimApp lets you model linear and time invariant differential equation systems in State Space format This representation is particularly useful for models with a lot of interactions and for advanced control applica tions Vector form LDES System matrix equation x t Ax t Bu t Output matrix equation y t Cx t Du t SE Transfer function G s C s sI A s B s D s s jo The system has n states p input quantities and q output quantities State vector n x 1 Input vector p x 1 Output vector q x 1 System matrix n x n Input matrix n x p Output matrix q x n Direct transmission matrix q x p UODW gt K Ic IX Parameters n lt 50 p lt 50 q lt 50 Matrix representation X Ar Arg An X1 By Bi B U1 X2 Aa Az An u2 Xn Am Anz Amn x Bn Bn Bop Up Ya Ca Ca Da Dap Up In real systems the direct transmission matrix D is usually 0 Buesser Engineering 72 SimApp Catalog Nonlinear elements Linear differenti
113. nts Width 24 Height 24 Unit Pixel Color Colors Select the largest zoom factor and paint the image SimApp controls the color of the background in order to clarify the different switching status You must determine however which pixels belong to the background SimApp uses the left lower corner pixel to define the background color All other pixels with the same color belong to the background The actual color you select is unimportant to SimApp It is only important that you do not use it anywhere else SERE This color determines the background color All pix els having this color are assigned to the back ground EG ann Gam UE EE Figure 53 Button image Store the image with any name Change to SimApp and load it into the desired button The image will be copied completely After loading the bitmap is no longer needed 11 5 Loading saving and restoring Changed palettes can be saved and reloaded At program start SimApp loads the last current palette The default palette can be restored at any time in the palette s pop up menu Buesser Engineering 47 SimApp User Manual Libraries Example 12 Libraries Each engineering field has characteristic system structures that are used repeatedly For these structures you can create your own custom blocks You can di
114. o The Schmitt Trigger select input prevents output jitter when the select signal is slowly changing and super imposed with noise Switching threshold and deadband are adjustable By default the threshold is set to the logical threshold The switch can be used for logical and digital signals and analog signals Vth On Ein Off Aus 13 9 2 2 1 Switch This element is a 2 line to 1 line data selector multiplexer The select input determines which input is routed to the output When the select signal is low off state the upper input is routed to the output When the select signal is high on state the lower input is routed to the input For information about the Schmitt Trigger select input see 1 2 Switch The switch can be used for logical and digital signals as well as for analog signals For more information about switching characteristic see 1 2 switch Buesser Engineering 115 SimApp Catalog Miscellaneous 1 n output switch demultiplexer 13 9 3 1 n output switch demultiplexer The signal at select input S selects 1 of several outputs to be connected to the single input All other out puts supply 0 The routed signal may be of any type analog logical or digital This multiswitch can have 2 to 50 output pins S 00 01 at On 1 lt 0 0 0 1 ceo 1 n 1 0 1 0 ES 50 Ra Inp 72 n 1 0 0 ae 1 gt n 0 0 cds 0 All outputs supply O
115. of its better time response For frequency simulations the ideal dead time element yields exact values for the magnitude and the phase curve For the calculation of the eigenvalues it is replaced by a unit gain element without any phase lag Therefore the influence of the delay on the eigenvaluesis not computed For valid eigenvalues you should use a Pad approximation The Pad allpass shows a good frequency response Note that the poles and zeros of the Pad allpass affect the whole system and influence the number and magnitudes of eigenvalues O Buesser Engineering 69 SimApp Catalog Linear elements First order all pass element PTa1 13 2 13 First order all pass element PTa1 The PTa element has a constant magnitude characteristic and is independent of the frequency The step response shows a negative undershoot near t 0 Systems with allpass characteristics are difficult to con trol Functions Step response h t K 1 2e y Tay K u T u PTat ver 1 7 a ST E Ta1s Magnitude and phase response Polar plot dB 4 K 0 PTa1 Ta 1s 90 180 Buesser Engineering 70 SimApp Catalog Linear elements Second order all pass element PTa2 13 2 14 Second order all pass element PTa2 This element has a similar undershoot as the first order all pass But in the second part of the step response it shows a dying oscillation dependent on the damping in the de
116. older of the Start menu and click it The SimApp main window opens and contains an empty maximized drawing window The SimApp main window is an MDI Multiple Document Interface parent window that can contain several child windows The drawing windows are fully independent of each other In every window you can model a system and run simulations Systems cannot be distributed over several windows However a drawing can cover several print pages in portrait or landscape orientation New drawings are always in landscape mode The page margins are displayed as blue dashed lines 4 2 Views and page arrangements There are various commands to manage the view size and position of your drawings You will find all these commands in the standard toolbar Three buttons in particular need further explanation 150 v RAQDPP HE BO PG Figure 4 Changing the view ni Snap to grid should almost always be selected lt makes it easy to align and connect objects properly You may use Alt Drag to move objects off the grid Fa Align lines ensures that new line segments are placed in 45 degree increments Once placed i the angles can be modified without restrictions GH Page composition allows models to grow beyond a single page Each page represents one page of printed output You can select a range of boxes and then work with the larger area as one unit 4 3 System modeling Block diagrams or block schemes represent the real system A block diagram mainly
117. onnect probes with system nodes you need signal lines The output signal of the probe can be fed into the system at any node regardless of whether it is al ready driven by another output SimApp deactivates all these outputs You can use as many frequency probes as you like For every stimulation input you need one probe All responses are displayed in the same diagrams and can easily be compared The names of the probes appear in the legend and as column names in the data tables SimApp internally runs a simulation for every single probe ignoring all other probes You may name the frequency probes to help you understand the output A common task is to analyze the open and closed loop of an automatic control system Buesser Engineering 23 SimApp User Manual Frequency Simulation Simulation properties Closed loop Amplifier PT1T2 Output Measuring equipment Figure 25 The use of frequency probes Remarks e Inputs and outputs of the system consist of red nodes or dots If you find other red nodes this means that they are not connected to any other node This could happen due to improper placement of nodes e The system must not have short circuits or nodes having no signal If SimApp finds any errors it paints all incorrect connections and signal lines yellow e For frequency simulations you may only use continuous time and linear elements including discrete time elements Nonlinear elements are not allowed e Loop
118. onsecutive time intervals The length of the interval equals the integration interval specified in the time simulation properties dialog In practice stiction is expressed as of the span of the input signal or the valve travel In the SimApp block we cannot explicitly specify the value stiction In reality however deadband lt 3 stickband lt 1 and slip jump lt 1 are very small Under these circumstances stickband and slip jump are almost equal ca 0 02 difference and so both equal stiction So if you have a stiction value use it for slip jump if values are small For more information about valve stiction please refer to papers and web pages of Shah Ruel and others keywords valve stiction Shah Ruel Valve Output position y 0 100 sticks due to direction A A direction change change Y100 100 t gt sticks due to direction valve rest change A sticks due to direction change DS ysiip jump gt ternal setpoin YO La 0 Deadband Stickband 100 0 100 DS Deadband Stickband valde UO U100 u external setpoint 4 Parameters e DS Deadband Stickband Hysteresis of the valve in of the valve range 0 100 e J Slip jump The jumpy movement of the valve in if the cumulative change of the input sig nal is greater than the stickband 0 100 e UO Input signal for 0 valve travel e U100 Input signal for 1
119. oop Report dB Amplitude Closed loop PT1T2 Ampl dB Phase Open loop Measuring equipment Ampl dB 19 678 Phase 101 67 dett 1 A bane et 02 03 05 1 2345 7 0 20 30 50 70 100 MIRA 010169499226 PP rads Figure 27 Bode plot A plot can display several curves each with its own color and pop up menu right click the curve for display settings Several curves can overlap Bring a curve to the front by left clicking the associated legend item The toolbar contains several tools for display manipulation You can zoom unzoom and shift a diagram The tools always operate on the active diagram which are selected by clicking You can recognize the active diagram by the fine frame around its title The mouse pointer also serves as a zoom tool Draw a frame around that region you want to zoom in Un zoom by pressing the unzoom button in the toolbar The Bode plot contains a measurement line and the Nyquist a measurement cursor for each curve You can control the line and the cursors with the navigator at the bottom of the window The line can also be moved with the mouse pointer The legend items show the current values which correspond to the navigator posi tion The measurement line and cursors are always in step The legend is hierarchically structured There is a section in the legend for every probe 7 5 2 Special effects The frequency response is calculated numerically with the state sp
120. or can be delayed by TD The initial value of the output signal is determined by the input value the gain and the integrator s initial value YOI YO UO K 1 YOI The output signal can be limited to the range Ymin Ymax by two selectable anti windup measures Windup appears because the integral term increases too much during saturation Thus during saturation the increase should be slowed down Anti Windup Hold The integration is stopped when the saturation s input signal leaves the valid range the upper or lower limit of the saturation As soon as the signal is reduced the integrator is released Anti Windup Reset If the saturation s input signal exceeds the limit the integrator s output signal is reduced so that the sum of integrator differentiator and unit gain equals exactly the limit Ymax or Ymin Functions Step response 1 t y du be f u t d t na PID I N 0 h t io 1 K G s q sr 4 o t K 4 Ss N TV 1s gt TN 1s 0 t Tn gt Ty Magnitude and phase response Polar plot dB 4 A K Nu a oe gt I ji O TnTy K g ol YKT YN YW kh o 0 P4 E a 90 l al 45 0 45 90 Buesser Engineering 88 SimApp Catalog Controllers 13 5 8 Adaptive PID controller This controller corresponds to the ideal PID controller type I whereby the specified parameters K TV and TN can be modified during simulation by control input signals The parameter cont
121. ores The step response depends on the damping d and the resonant frequency There are four cases 1 Undamped d 0 The step response is an undamped sinusoidal signal 2 Underdamped O lt d lt 1 3 Critically damped d 1 4 Overdamped d gt 1 Functions Step response Qe h t k E L sin oe t arctan id T y 2dT y y Ku Jia T d K fe A A PT2 s 57 1 2dTs T s er For d lt 1 we get K K 1 G s s 1 T s 1 T s T is d 0 5 Le T Va 1 he Ta la 1 Magnitude and phase response Polar plot gt PT2 A AA e A A O Buesser Engineering 63 SimApp 13 2 8 Non oscillating second order lag element PT1T2 This element corresponds mathematically to the PT2 element but the damping is always greater or equal to 1 This is the overdamped case where the denominator of the transfer function can be decomposed into two linear factors with the time constants T1 and T1 Functions y y T T yT T Ku K AUFS Magnitude and phase response O Buesser Engineering Step response h t qi ar K A ee DRE A Per Tje _ T e o t Polar plot 64 Catalog Linear elementsNon oscillating second order lag element PT1T2 PT1T2 TER K 1 T1 2s T2 1s PT1T2 1 Sl 1 ES i T1 2s T2 1s SimApp Catalog Linear elements Nth order lag element PTn 13 2 9 Nth order lag element PTn This
122. r translating the manual to French and the revision of all French texts from version 2 5 Thanks to his great work SimApp can now be provided entirely in French Peter Way SimApp Marketing amp Sales VentiMar LLC www ventimar com 1112 Oakridge Dr Suite 104 Fort Collins CO 80525 for his active support in all issues of the project and the revision of the English text Spring 2009 Bruno Buesser VI SimApp User Manual Introduction What is SimApp for 1 Introduction 1 1 What is SimApp for SimApp is a software tool for the analysis and optimization of dynamic systems based on block diagrams It does not assume any predefined structures You can draw and simulate any kind of equations that can be represented by block diagrams and by using the available functional elements SimApp may be used to model systems that can be represented by ordinary linear differential equations It is especially useful for simulation of feedback systems or automatic control systems Linear and nonlinear time invariant and time variant systems or subsystems can be simulated in the time domain and the results displayed as time and XY plots In addition linear and time invariant systems or sub systems can be investigated in the frequency domain with Bode and Polar Nyquist Black plots and their eigenvalues The plots and data tables can be printed out or exported to other applications with using the Windows clipboard The modeling of the systems i e t
123. raphics editor and paste it into your SimApp drawing In SimApp you can only change the size except icons Metafiles may be converted into native SimApp objects 5 2 9 1 Paste pictures from the Windows clipboard Create the picture in a graphics editor and copy it into the Windows clipboard Back in SimApp paste the picture with the menu command Edit gt Paste or by clicking the paste button 3 Applications store data into the Windows clipboard in multiple formats The paste command always prefers the native format of the pasting application If it cannot find its own format it selects the most similar one SimApp prefers the sap format When it cannot find its native format it selects the metafile format and the bitmap format If you do not want the preferred format or if you do not know which format will be pasted select Edit gt Paste special You will see a list of all known formats in the clipboard After pasting the objects are generally shown in original size if scale is set to 100 5 2 9 2 Insert pictures from a file Click the picture button on the palette and place an empty picture into the drawing Figure 13 Empty picture In the picture s pop up menu you find the following commands 1 Paste picture Pastes the contents of the clipboard into the empty picture This corresponds to the paste command as explained above 2 Load picture A file dialog box is opened and lets you load a wmf emf bmp or ico file
124. rary button Move the button to the palette and release it at the desired insertion position The button is copied from the library to the palette Buesser Engineering 46 SimApp User Manual Palette Working with the palette buttons 11 4 Working with the palette buttons If you move objects from the drawing to library or palette SimApp creates standard buttons The images of these buttons are not very meaningful You should replace the text with a name that is suitable the contained objects You may also design your own image 11 4 1 Properties of palette buttons Right click the button and select Format properties in the pop up menu Button Properties Preview Image Load image Remove image Caption x1 if no image Tooltip ca fy Figure 52 Palette buttons properties You can load any bitmap of 24 x 24 pixels You cannot show a bitmap and button text simultaneously Cre ate the bitmap with the Paint program of Microsoft Windows or with another paint application Paint is a stan dard accessory of Windows If you have not installed Paint you will find it on the installation CD of Windows As a further option you can assign a tool tip to the button a small pop up window that appears when the mouse hovers over the button The tool tip should contain a short description of one to three words 11 4 2 Designing button images with Microsoft Paint Open Paint and select Image Attributes Select the following adjustme
125. rder n the element cannot have a deriva K tive behavior Magnitude and phase response polar plot and step y de h response depend on the order of the polynomials and the choice of ao 45 p a 5 gt the coefficients bO 1 a0 1 m Oj AREY Sit cose 0 5 Buesser Engineering 67 SimApp Catalog Linear elements Dead time PTt 13 2 12 Dead time PTt The dead time delay element delays the input signal by the dead time Tt but does not change the signal shape Functions Step response y t Ku t T h t Ko t T A h t P TE ricino PTt G s Ke PTt K 1 Tt 1s gt t Magnitude and phase response Polar plot dB 4 K A K K PTt gt gt T K 1 ne Tt 1s 0 Pad equivalents The transfer function of the dead time element has neither a numerator polynomial nor a denominator poly nomial Since poles and zeros are not defined eigenvalues do not exist and SimApp will not try to calculate them To eliminate this disadvantage the dead time element must be described by state variables But since the dead time element cannot be described by a finite number of state variables we must use an approximation SimApp offers two approximations developed by H E Pad 1 Pad Allpass The rational transfer function of the Pad allpass function is n 1 Y 1yaT s i l n 1 G T s where a SAA na i 1 n poy I Ma n T1 ZN 1 1 Va7 s Ge i 1 The al
126. ributing to parameter variation Number of parameter sets Denotes the number of additional values a parameter can store for parameter variation It affects a parame ter only if the check box multiple is also checked Edit parameter set This button opens an input table for editing the variable values of all parameters of the current block Col umns are defined by which parameters are checked as multiple All parameters contributing to the parameter variation are marked red in the drawing O Buesser Engineering 35 SimApp User Manual Parameter Variation Starting parameter variation 9 1 2 Input table for varying parameter values Parameter sets for Second order lag element PT2 Figure 44 Input table for varying parameter values The parameter base values appear in the first line highlighted in yellow and cannot be modified as they serve as an overview only Each parameter set is a row of the table for example the first parameter set is in row 1 Base values are used for parameters that are not marked multiple 9 1 3 Simulation properties Parameter variation C Use parameter variation Number of parameter sets 5 max 100 Color of plot lines Use same color for all sets Use different colors Figure 45 Settings for parameter variation in the frequency and time simulation properties Use parameter variation must be checked The number of parameter sets denotes the number of parameter sets used
127. rol can be multiplicative or addi tive Thus the actual parameter values are for multiplicative parameter control K KO dK TN TNO dTN TV TVO dTV for additive parameter control K KO dK TN TNO dTN TV TVO dTV With open control inputs unconnected the associated parameters keep their default values The limits can also be multiplicatively changed by the input signal at node m Ymin Ymin0 dYL Ymax Ymax0 dYL If the input node is open the limits are unchanged Buesser Engineering 89 k KKO 1 Adaptive PI PID adaptive SNT yo KO 1 TVO 1s TNO 1s D controller PID adaptive K PID v vV m gt KO 1 TVO 1s TNO 1s SVT yo SimApp Catalog Controllers Industrial PID controller 13 5 9 Industrial PID controller There are many different real controller structures on the market Different aplica PID industrial tions use different algorithms so there is no standard PID algorithm There is even no standard terminology as in literature and product specifications you find terms like ideal parallel series ISA interactive non interactive and more Some terms are used equally or similarly others very differently SimApp uses only two designations with regard to the mutual arrangement of the D and I channel Series and parallel Together with two selectable options D on PV and P on PV all knows structures can be achieved In the series imp
128. s without any lag or delay elements are allowed in contrast to time simulation If you also want to perform some time simulations with the same system you should insert fictitious lag elements as PT1 blocks For more information refer to chapter Time simulation e SimApp disables input sources during frequency simulations as they are not needed or used e Label every probe with a unique name This will help you to have a better overview of the results 7 3 Simulation properties You can control the simulation process by control parameters and options Open the frequency simulation options dialog box menu Frequency Simulation Properties or button Y or the drawing s pop up menu Buesser Engineering 24 SimApp User Manual Frequency Simulation Start frequency simulation Frequency Simulation Properties Parameters Options Start frequency lo a Open plot window at simulation start TE C Use plot window of previous simulation gt uses frequency points of first simulation Number of values per decade C Linear amplitude magnitude Max phase difference Maximum magnitude difference 1 Max number of intermediate points 10 Parameter variation C Use parameter variation Note Frequency points shown are determined by first simulation if same plot window is used for multiple simulations Number of parameter sets J max 100 Color of plot lines Use same color for all sets Use differen
129. ses a trapezoidal approxima tion to transform an ideal time continuous integrator to its discrete time counterpart Functions Step response Trapezoidal approximation 1 Uk UK 4 T T 2 Yk Yk1 State equation Xka Xk FU T Yk 77 2x U 2T Xk X kT Transfer function G z Tz 1 21 z 1 z e E el Magnitude and phase response Polar plot A dB ol 20dB Dek gt E 7 gt o Pa 0 gt 6 90 The discrete time integrator can also be derived from the analog implementation of the bilinear transforma tion Transfer function of the analog integrator is G s A sTi _2z 1 Bilinear Transformation Tz 1 Replacing s in G s by the bilinear transformation yields G z Buesser Engineering 100 SimApp Catalog Discrete time transfer elements Discrete time differentiator Dz 13 6 6 Discrete time differentiator Dz The discrete time differentiator is derived from the analog implementation by difference expression Strong distortions poles and alias frequencies can occur in the range of the sample frequency and above Therefore in sampled data systems the sample period must be sufficient short and the harmonic distortion produced by aliasing must be eliminated by a low pass filter before the sampling process Functions Step response Difference expression Uk Uk Yk Tp a Dz State equation pz Xk 1 Uk T Yk
130. shold are interpreted as high logic 1 or true The default threshold value is 0 5 and default logic high output value is 1 Logic 0 is always 0 Feedback with logic elements By default logic elements in SimApp have no propagation delay Thus there are the same restrictions as for other elements Feedback loops without any delay elements are not allowed see algebraic loops However in logic circuits it is common to build feedback loops For example you can form a set reset flip flop with two NAND gates in a feedback configuration Furthermore logic circuits often need propagation delays for proper operation even when they do not have feedback loops For example in a synchronous counter with a chain of JK flip flops all having the same input clock signal it is essential that the states at the J and K inputs and the outputs of the preceding flip flops change after the positive going edge of the clock signal For details see the counter example in the pro grams example directory To enable such cases all logic elements have the option Propagation delay The output signal of the ele ment changes only at the beginning of the next integration interval if this option is set Therefore a short delay of one integration step size can be included If the integration step size is set as recommended see chapter Time simulation this delay can be neglected If you build large logical circuits or long chains of logic elements the sum of delays may beco
131. t and drag the new corner to a new location Note that the new corner is immediately removed if you do not move it significantly Remove any corners by pressing the Shift key and clicking the corners Slanted segments can be replaced by vertical horizontal segment pairs by pressing Shift and clicking the segment 5 2 6 Polygons Follow the same rules as for polylines You can convert polygons into polylines and vice versa through the object s pop up menu item Close shape 5 2 7 Signal lines Data is led from block to block through signal lines They are like lines but their end nodes adhere to other nodes Blocks remain attached to signal lines as they are moved on the drawing but signal lines do not drag blocks By default signal lines are detached when moved from a block This behavior can be changed in Program Options as shown below The following graphics explain the behavior of signal lines and connec tions more precisely Initial Example Diagram Default mode Point A has been moved and lines stay connected to each other A Block E has moved and lines stay connected K 1 When dragging Line F from block D it always disconnects If the mouse is close to the endpoint it disconnects from the block Otherwise the entire line moves Shift Mode When aline is selected circles appear at vertices and endpoints Tits As the mouse hovers over the line two possible icons appear You may change the default behavior to disconn
132. t change if the inputs fall from 1 to 0 The logic initial value is selectable The output can be delayed by one integration step by setting propagation delay Inputs Outputs Set Reset Q Q SR FF L H L H H L H L Set Q L L Qo Qo Reset Q H H H L Set dominant H H L H Reset dominant QO level of Q before the last change of Set or Reset 13 8 8 JK flip flop A high level at Set or Reset input sets or resets the outputs regardless of the levels of the other inputs When Set and Reset are inactive low data at the J and K inputs are transferred to the outputs on the positive going edge of the clock pulse Data at J and K input may be changed without affecting the levels at the out puts This flip flop can be used as toggle flip flop by tying J and K high The logic initial value is selectable The output can be delayed by one integration step by setting propagation delay Inputs Outputs n 2 Reset o ano ee od alee oa tIr rrr o0l BEL TAK KIS rerr re lees Arer ae XIFCIPFXXX cu XXIIT xXx A Toggle Q p X do not care QO level of Q before the last input change or clock pulse 0 1 CP edge Buesser Engineering 112 SimApp Catalog Logic D flip flop 13 8 9 D flip flop The D type flip flop has asynchronous Set and Reset inputs and complementary Q Q outputs Information at the input is transferred to the outputs on t
133. t colors o ae pe Figure 26 Parameters and options for frequency simulations Enter a start and a stop frequency Choose how many frequency values you want to calculate per decade Generally the frequency response differs very much from decade to decade especially the phase response To get good resolution in these ranges you could increase the number of values per decade But this has the disadvantage of huge memory demands In ranges where the response is very smooth you do not need a high frequency resolution Hence before you increase the resolution try the following three parameters instead Select a smaller maximum phase and magnitude difference between two adjacent frequency values and set the number of intermediate points if the maximum differences are exceeded For more information use the contextual help Refer to chapter Parameter variation for more information about parameter variation 7 4 Start frequency simulation Start the simulation by using the menu command Frequency Start or the start button M The calculation time depends on the size of the system and the simulation parameters During a simulation you can work on other drawings and even run other simulations Buesser Engineering 25 SimApp User Manual Frequency Simulation Results 7 5 Results 7 5 1 Plots vi Frequency response File Plots owe 299 DE BS B Bode plot Black s plot Nyquist plot Eigenvalues Closed loop Open l
134. t has three nodes e Inputs Armature voltage Ua and load torque M as disturbance input e Output r p m To make the block usable for different designs of DC motors the following coefficients must be changeable Name Symbol Unit Armature inductance La H Armature resistance Ra Ohm Back emf constant Kf Nm A Inertia of motor and J Kg m load All these coefficients form the new virtual parameters of the block 10 2 1 2 Open block folder Open the block folder menu File New block folder A new window appears with the title Block folder 1 The window consists of two pages and a table The first page is for the design of the block symbol and the second page for modeling the block system Click the tabs if you want to change the page First we will look at the System page O Buesser Engineering 39 SimApp User Manual Custom Blocks Creating custom blocks in the block folder 10 2 1 3 Draw the internal system The next figure shows the block diagram representation of the dc motor derived from the equations SimApp Workstation DCMotor sbf Y Fie Edit View Insert Format Drawing Extras Time simulation Frequency simulation Window D Ss mM E Sources Linear Nonlinear Plots Actuators Controllers Time discrete Converters Logic Misc Special Drawing a LRI EP EAA iri i A LA E Arial vho E p T 150 vaa 9 Hi Alo TY Import block mu Export block S Block title DC Motor mm Armature Mo
135. t to the front and Th sends it to the back Buesser Engineering 16 SimApp User Manual Drawing Functions Important auxiliary keys 5 4 3 Snap objects to grid If you draw signal lines and insert simulation blocks it is rather difficult to keep the object on a line To sim plify the precise placing of objects and drawing of exact vertical and horizontal lines use the grid Choose whether all objects drawn or pasted into the drawing should snap automatically to the grid This feature is very helpful for drawing block diagrams since you do not need the high resolution SimApp offers The con necting of nodes is much simplified and you do not need to constantly align line segments You can temporarily switch off the snap to grid function with H if the grid is too wide for special drawing operations But if you forget to switch it on again your subsequent objects may not align with the grid If then you switch snap to grid back on and try to attach the objects to each other you will realize that it does not work The objects will lie on different grids SimApp differentiates between a global and an object oriented grid The global grid corresponds to the dots in the drawing The object oriented grid refers its origin to the location of the object But the grid width is the same Thus if you move an object without snapping its grid will not match the global grid any longer To move selected objects to the grid press the Lock into grid button d
136. tain a pure integrator Functions Step response y y T T yT T Lead Lag Klu aT bT abT T controller LLC 1 aT s 1 bT s 4 G s K 1 T s 1 T s K 1 a 4 Ti lt T T1 0 1 s b lt 1 T2 1s Magnitude and phase response Polar plot A Lead Lag controller 0 o 0 K O Buesser Engineering 95 SimApp Catalog Discrete time transfer elements Introduction 13 6 Discrete time transfer elements 13 6 1 Introduction In a sampled control loop the controlled variable consists of a sequence of discrete time values at time t kT k 0 n which are supplied to a discrete time controller This is typically how a computer or microcontroller would manage the control loop The analog signals between the sampled points are ignored The discrete time controller transforms the input sequence into a appropriate output sequence that is also defined at the same sample points t kT only If the actuator or controlled system uses a continuous signal input the output signal of the controller needs to be reconstructed The most common reconstruction method is the zero order hold ZOH A common implementation is a Digital to Analog converter DAC that holds the value of each digital output until the next one comes along SimApp can simulate discrete time elements in the time domain as well as in the frequency domain how ever the following differences need to be considered During time simulat
137. ters But it s also possible to change name unit symbol etc Press the Parameter properties button O Buesser Engineering 20 SimApp User Manual Simulation Objects Simulation properties Parameter properties Min value Max value Value O always visible in drawing Figure 22 Parameter properties There is no value limitation if you enter zero for minimum and maximum input The Option always visible in drawing determines whether a parameter is displayed in the drawing The item Formula is used when blocks are part of a custom block It defines the relationship of the block parameters to the virtual parameters of the custom block see more information later in this manual 6 4 2 Units SimApp uses the following default units Time ps ns fus ms s min h d a Slope ps 1 ns 1 us 1 ms 1 s 1 min 1 h 1 d 1 a 1 Frequency urad s Hz mrad s mHz rad s Hz krad s kHz Mrad s MHz Grad s GHz The default units are bold SimApp recognizes these units and uses internally the appropriate conversion factors A up down button pair appears if the unit edit box contains a default unit Simply press the keys to change between default units of the same type If SimApp encounters an unknown unit it uses the value as it is For example if you type y instead of a for year SimApp uses the basic time unit s seconds Pay attention to capitalization For exa
138. text file Note The time space between two successive data points should be a multiple of the integration step size If not the integration step size should be less than half the space of two successive data points otherwise signal filtering occurs undersampling that may distort the output signal Check the output visually in case of doubt Buesser Engineering 56 SimApp Catalog Linear elements Adder Summer 13 2 Linear elements Linear elements obey the principles of superposition and gain f u u f u f u Principle of superposition f Ku Kf u Principle of gain With linear elements you can perform time simulations and frequency simulations 13 2 1 Adder Summer The adder adder or summer element has one or more signal lines as inputs and one or more single signal lines as output For each input signal the sign can be set individually With only one input line the adder can form an inverter You can change the sign of the inputs by selecting the signal line and pressing the or key on the numeric keypad or by using the signal lines pop up menu Function y t u t u t u t Example yi ul u2 u3 y2 u1 u2 u3 u1 y1 u2 y2 u3 Buesser Engineering 57 SimApp Catalog Linear elements Proportional element P element 13 2 2 Proportional element P element The input is multiplied by gain K Functions Step response y t Ku h t Ko t P
139. the block properties dialog does not contribute to the parameter variation SimApp uses additional values for parameter variation An alternative to parameter variation would be to run several simulations with different parameter values each and display all results in the same diagram see option in the simulation properties The disadvantage of this procedure however is the badly arranged curves in the diagrams and the impossibility to store all the values in the file The base parameter values do not change and therefore can be reused when the work with parameter varia tion is complete 9 1 Properties of parameter variation The properties of the parameter variation cannot be set in one single property sheet that depends on whether the user is concerned about a single element or many elements in the system 9 1 1 Block property dialog You can set the number of parameter sets in the element s property sheet of that element only You can set which parameters are to vary by checking multiple and then parameter properties to define the values e paa 6 Edit parameter set Parameter properties Common Gain K 1 multiple Time constant T 1 multiple Damping d 05 multiple Initial value p t lt 0 YO 0 C multiple Initial slope yo 0 C multiple Figure 43 Parameters variation settings The following settings are important for the parameter variation Multiple This option must be checked for all parameters cont
140. the valid range is outside of the range WB WT If the input is between WB and WT the Q output is set The start of the rising edge at the Q output can be delayed by the Alarm delay parameter so that short time range violations are ignored Window Alarm E I I C innen outside Td 8 Td s aussen ammm lo lam eee Beem am am am am ap 13 9 9 Zero crossing detector This element observes the input signal and supplies a short logic pulse if it crosses the zero line The pulse width is one integration step size so that it is not visible if the output time resolution is longer than the inte gration step size There are three detection modes Both Directions Fires an output pulse if the input goes form negative to positive or from positive to negative Negative gt Positive Detects crossings only if the input goes from negative to positive Positive gt Negative Detects crossings only if the input goes from positive to negative A negative gt positive positive gt negative Zero t crossing O Buesser Engineering 118 SimApp Catalog Miscellaneous Step ramp 13 9 10 Step ramp This elements supplies a stair shaped ramp at its output Y The step size can be specified and remains con stant during simulation On each positive going edge at the clock Clk input the ramp is increased or de creased by one step The ramp starts at a given value and grows towards the variable limit signal By apply
141. to exit SimApp This toolbar is not move able but you can hide it along with the palette 3 3 2 Palette The palette is a multiple page toolbar that contains all standard simulation objects and some drawing tools Select a page by clicking on a tab O Buesser Engineering 4 SimApp User Manual SimApp Main Window Status bar Sources Linear Nonlinear Plots Actuators Controllers Time discrete Converters Logic Misc Special Drawing Figure 2 The palette There two types of objects Functional elements These objects are the building blocks of your block diagrams i e the models of the systems you want to analyze by simulation Examples are sources actuators controllers signal lines 2 Shapes lines and text Page Drawing In SimApp you can draw simple shapes and lines These objects are not primary objects because they are not needed for simulations You can use them if you want to illustrate your drawings and draw the symbol of custom blocks The most important tools for drawing manipulation selection zoom and drag are on the left side of the pal ette 3 3 3 Moveable toolbars The toolbars contain buttons for the most important commands and selections Each toolbar offers a distinct category of commands Toolbars are moveable or can be docked along the inner edge of the SimApp main window They can be individually shown and hidden View Toolbars menu Double click a toolbar to quickly change between docking and moving mode
142. tor Noise This source can also be used as random number generator and you can evalu ate the behavior of automatic control systems in presence of random noise EM The noise source supports the following four noise distributions M 1 SD 0 4 A 1 Uniform White noise Exponential A A Mean value a b gt Mean value Mittelwert gt Mittelwert 2 Normal Gaussian Poisson 4 _G mY 2 4 f x e Mean value Mto Mittelwert m Mean value Mittelwert The Reproducible option controls the starting point of the internal random generator If Reproducible is set it applies identical noise sequences for every simulation run even when the drawing is saved and reloaded If Reproducible is disabled it applies different noise sequences in subsequent runs If the system has more than one noise source all noise sequences differ from each other Independent of Reproducible O Buesser Engineering 54 SimApp Catalog Sources User source 13 1 11 User source This characteristic consists of a series of points that form the output signal You can select between a linear and a rectangular interpolation Function y t f P1 Pn t rectangular rechteckig User source The characteristic can start with an initial value or the first point The initial value is set by inserting a fictitious first point for time lt zero The data value of this point applies from the very beginning up to the expir
143. tor Angular Pas a Current torque velocity right click to start editing E i K 13 Back emf Structure E 6 60 0 32 cm No object selected Figure 47 System page of the block folder The inputs and outputs are specially marked by node objects You will find the node objects on the Special page in the palette Place the node objects exactly on the input and output nodes of the input and output signal lines The node objects are automatically numbered however we recommend labeling them with the associated signal names 10 2 1 4 Creating parameters The parameters of the native blocks cannot be used as motor parameters For example the time constant of the PT element is the quotient of armature inductance and armature resistance You can create new pa rameters in the parameter table In the simulation properties dialog box of the individual elements you can then define the relationships of their own parameters to the new virtual parameters Steps 1 Double click the first row of the parameter table In the dialog box enter the properties of the armature inductance La Block parameter 1 Name Aramture Inductance Symbol mandatory Unit Value Min value Max value Figure 48 Defining block parameters 2 Enter the mathematical symbol and a typical value for the armature inductance Buesser Engineering 40 SimApp User Manual Custom Blocks Creating custom blocks
144. ts are hidden If you do not like the default symbol you can finish the block in the block folder In this folder you can also edit the inner structure and create new parameters Custom blocks can be broken up with the menu command Extras Break up custom block at any time It is immediately replaced by its inner structure The symbol is lost but connections to external blocks are re tained 10 2 Creating custom blocks in the block folder In a block folder you can create and alter custom blocks You have access to the inner structure and the block symbol A special feature is the ability to create new virtual parameters and connect them to the real parameters of the contained blocks 10 2 1 Introductory example In this example you will learn the most important steps to create a custom block in the block folder The lesson is to create a custom block from the block diagram of a DC motor This block should be supplied with a descriptive symbol 10 2 1 1 Mathematical modeling The Laplace transformed equations of a DC motor are 1 21 K 1 L Armature current li UV K and T 2 1 sT Ra Ra Differential voltage Un U En Ua Armature voltage Back emf en K 0 Kr Torque constant Motor torque M Kgl Differential torque Ms M M M load torque 1 Angular velocity O Je B J Inertia of motor and load S Revolutions per minute r p m n 600 27 The equations describe the function of the new block I
145. underlying fundamental wave The falling edge is controlled by the input signal The control values for 0 LL and 100 UL can be set to any value LL may be greater than UL or even negative t F PWM UL 100 tt Ton Toff fO 1 Hz 50 1 A 1 LL 0 13 1 7 Timer The timer generates a single rectangular pulse On off time and pulse height can be specified Function y t A o t Ton o t Toff y A A Timer A 1 Ton 1s Toff 2 s Ton Toff t Buesser Engineering 52 SimApp Catalog Sources Trigger 13 1 8 Trigger The trigger source supplies a predefined sequence of pulses The height of the pulses corresponds to logic 1 level and their width to the current integration step size This source is useful for triggering time dependent events in a controlled process The pulse sequence is defined in the simulation properties of the source By setting the option terative the sequence is continuously repeated If the first pulse is at time 0 the sequence starts its repetitions at pulse no 2 because the last pulse of the sequence has priority Integration step size Integrationsschrittweite Trigger T1 T2 T3 T4 T5 The time sequence can be stored into a text file and loaded at any time The maximum number of pulses is 10 000 The data format in the text file is the same as for the file source and user source except that it needs only one
146. use of time probes oooccinnncccnnocociccnocannnnnnnoncno nano nn rr nan nn r rana 29 8 3 Further remarks about time simulation cnnnnnnninnnnnccccnnncocnnnnnnannnnnnnnn nn r nano rra rr 30 8 4 XY GraphS intchaie nie ee hes el haha hen intel deal bein lain aed ie 31 8 5 Simulation Properties comida id iade i dd aed nie eta 31 8 6 Start the time Simulation viii dd rute danene nd 33 8 7 Simulation result comio dd da add ad ae 33 8 7 1 Time diagram a tits 33 8 7 2 Data tables iia oc 33 8 8 Time simulation Examples ccccceeeccccce cece eeeeeeeeaece cence cece ceaaaeaeceeeeesecsaaaeeeceeeeeseesecaeeeeeeeeeeeseeeaees 34 8 8 1 Numerical solutions of differential equations ooooooccccnconnicococcnococanononononcnnnnnnnononnnnnnnnnnnn nn nn cnn nnn anne nn nn cnn 34 9 Parameter Variation errnnnnvnnnnnnnvnnnnnnnvnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnneenn 35 9 1 Properties of parameter VariatiOn cccccceeceeceseeceeeeeeeeececeaeceeeeeeeeseceaaeceeeeeeesecsusaeeeeeeesesscsunaeeeeeees 35 9 1 1 Block property dialog co date 35 9 1 2 Input table for varying parameter Values ooocooococcccnonoccnononononnnoncncnano ttti non cnn nan nn rr narran 36 9 1 3 Simulation properties risene in iera iio 36 9 2 Starting parameter variation saoiread eraai e aera aerae i ar ae aar 36 10 CUSTOMEBIOCKS ii dias 38 10 1 Creating simple custom blocks by selection o oococ
147. used The disadvantage of this solution is the huge space requirement for large num bers big elements and multiple lines 13 7 1 Analog to digital converter ADC The ADC samples the input signal at constant time intervals T sample period and converts it into a digital signal The digital output signal is supplied to a single digital signal line The ADC incorporates a sampler a converter and a quantizer that rounds the signal to positive integer values The sample period the resolution of the quantizer and the upper and lower limit can be specified The de fault value for the lower limit is zero When the input signal leaves the valid range the Overflow or the Underflow output is set to logic high Parameters 0 lt Res lt 32 Example Characteristic of an ADC with 3 bit resolution in the range of 0 to 10 ji u t Upper limit 10 obere Bereichsgrenze 8 75 ADC Ol O Vi Rh 10 ai Res 8 Bit ower lim Ts 0 1 s untere 129 Bereichsgrenze 0 Underflow i Overflow H L Note The upper limit Rh corresponds to the binary value 1000 111 1 Buesser Engineering 106 SimApp Catalog Converters Digital to analog converter DAC 13 7 2 Digital to analog converter DAC The DAC converts the digital input signal into an analog output signal The sample period the resolution and the upper and lower limit as well must be specified Default value for the lower limit is zero The sample pe riod must be equ
148. utput and scale it This is helpful in diagrams with widely different signal amplitudes In addition they can function as a gain that scales or inverts the signal further in the model Output probes can conveniently be rotated or flipped with the buttons in the left menu area Time Output D K 10 Figure 32 Time and Output probes Use signal lines to connect system nodes to time probes or output probes Signal lines that connect probes to the system change their graphical representation Open inputs red nodes not in custom blocks are valid but are fed by zero inputs Generally you can have one source of main system stimulation as reference input and some optional sources as disturbance inputs If no probe is available all outputs are led to a fictitious probe If you have at least one probe all outputs that are not connected to probes are omitted Oscillator Plant fo 0 25 Hz A 1 Ph 0 Measuring Equipment Figure 33 Using time probes O Buesser Engineering 29 SimApp User Manual Time Simulation Further remarks about time simulation Time probes can be grouped Do not confuse with drawing groups The membership of a source to a dis tinct group is defined by its group number The group number is displayed only if it is greater than zero Oscillator Grp 3 fO 1 Hz A 10 Ph 0 Figure 34 Source with group number Grp SimApp runs one simulation for every single group Sources not belonging to the curr
149. ve the whole parameter table by clicking and pressing the Alt key Note After changing values in the parameter table the table is repositioned automatically Presupposing this feature is switched on in the properties dialog of the element Buesser Engineering 19 SimApp User Manual Simulation Objects Simulation properties 6 4 Simulation properties This dialog box contains all properties and options that concern object specific simulation settings You can open it with the Simulation properties command in the object s pop up menu or by double clicking First order lag element PT1 Parameters Options K SEE 20dB Dec G s me of parameter Parameter properties Common Gain C multiple Time constant C multiple Initial value y t lt 0 C multiple Time discrete Time discrete simulation O Sampling period Ts 0 1 C multiple apply to all time discrete elements O Integration rule Trapezoid Figure 21 Simulation properties of the PT element The dialog box contains two pages All or most parameters appear on the Parameters page On the Options page you can change display options Some elements may have more pages for additional settings The number of parameter sets and Edit parameter setas well as the multiple check boxes refer to parameter variation See chapter Parameter variation 6 4 1 Parameter properties On the Parameters page you can only change the numerical values of the parame
150. ver the target node Note Improperly mouse move ments may lead to useless corners and very short segments Signal lines have the same processing modes as polylines whereas the point processing is selected by default The formatting of signal lines is set in the program options and can not be changed individually Signal lines can transport data only in the direction indicated by their arrowhead In fact you can connect the outputs of two blocks with each other SimApp recognizes such collisions changes the color of the signal line to yellow and does not draw the arrowhead Yellow lines and nodes generally display false connections If you see a red dot at the intersection of two lines or objects they are not connected Change the arrow and thus the direction of the dataflow with the Turn arrow command in the signal line s pop up menu or with the End and Home key 6 2 1 Addition subtraction and inversion Add subtract or invert signals by means of summer blocks Buesser Engineering 18 SimApp User Manual Simulation Objects Fast editing u y y u u u y Figure 19 Addition subtraction and inversion Summer blocks may have multiple inputs and outputs Multiple outputs are for convenience and their values are all equal The polarity of a signal is determined by the sign You can change the sign with the signal line s pop up menu or by pressing the and key on the numeric key pad Press the Alt key if you have di
151. vide your blocks according to certain criteria in groups and store into libraries When using libraries you are however not limited to custom blocks You can select any number of objects and signal lines or grouped objects to store in libraries for re use Even standard ele ments of the palette can be copied into libraries Libraries behave like normal toolbars on the display 12 1 Example The following example will show you the basics for creating and using libraries A new library will be created that is only filled with standard elements so that you do not have to master a large group of objects Putting standard elements into libraries has in practice no advantages It is much more useful for you to store your custom blocks Open a new drawing and place two standard elements from the palette in it Create a new library with Extras Library New A window having a yellow background appears Move an element from the drawing into that window Then move the second element into the library while pressing the Ctrl key Let us assume that you have moved the first element and copied the second one Select the third element in the palette Before clicking it press the Alt key Move the button into the library window and release the mouse button Your library now looks like this Unnamed library 1 gt under constructio X Figure 54 Creating libraries You can rearrange the buttons as you like Then right click the library window and sel
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153. ystem Although it does not offer a true integrator you can get arbitrarily close to meet your steady state error requirements Functions Step response y Y Tu F Tyo Y Tn To Ku U Tp F Tra Via Thal 1 ST Xl Tp 1 sTy 1 8Typ G s K Tn1 gt gt Tri 2 Tre gt Treo Magnitude and phase response Polar plot dB O Buesser Engineering 94 PID m U lD m TR1 TR2 TN1 1 TN2 0 NO N Nn Nn YN PID m SimApp Catalog Controllers Generalized PID controller PID a 13 5 13 Generalized PID controller PID a By means of the generalized PID controller complex roots in the polynomials of the numerator and denomi nator are realizable However all other structures are also realizable by using suitable parameters A typical step response magnitude or phase curve or Nyquist plot cannot be provided due to the great flexi bility of this controller Functions PID a PID a a f a 22 y y2dy Ty T Klu 2d T 72 K 1 2d 1 5 lzs Vip a 1 2d T s Tis E 1 2d T s Ts G s K er K 4 dZ 1 1 2dyTyS THS dZ 1 TZ 1s TZ 1s dN 2 dN 2 TN 2s TN 2s 13 5 14 Lead Lag controller PID control structures are used if the steady state or the transient performance of the controlled system are insufficient This controller corresponds to the modified PID controller where the separation into a lead and a lag is par ticularly obvious It does not con

User Manual - SimApp - Dynamic Simulation Made Easy

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