Transcript VisSim/Embedded Controls Developer for TI C2000

VisSim for Dynamic
Simulation and Model Based
Control Design
Visual Solutions, Inc.
487 Groton Road, Westford MA 01886 USA
(800) VISSIM-1
www.vissim.com
Visual Solutions
• Founded in 1989
• Creator and continued developer of
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VisSim – a block diagram language for
modeling, simulation and embedded
system development
Shipped over 250K licenses
Located in Westford, Mass – 45 min NW
Boston
EDN Hot 100 top products winner
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VSI Relationships
• Texas Instruments Partner since June
2000
– TI includes VisSim/ECD in hardware evaluation kits
• Telelogic/IBM resells VisSim as “Continuous
Modeler”.
– Tight co-simulation coupling with Statemate.
• Mathsoft(PTC) resold VisSim/PE low end
VisSim products
Visual Solutions
Markets & Major Accounts
Aerospace
Motion Control
Power & Gas
Allied-Signal
General Dynamics
GEC Alsthom
BF Goodrich Aerospace
Boeing
British Aerospace
Cessna
Embraer
Kollsman
Litton
Lockheed-Martin
NASA
Northrop-Grumman
Pratt & Whitney
Textron
Allen Bradley
British Gas
Danaher/Kollmorgen
Arizona P&G
Maxon Motor AG
Florida Light&Power
General Electric Drives
Hitachi Power
Electric Motion Systems
Manitoba Power
Indramat
Ontario Hydro
Instron Corporation
Pacific Gas & Electric
INA Motorenelemente Schaeffler KG
Copley Controls
Parker Hannifin
Tenneco Gas
Universal Instruments
TVA
Spectra Physics
Union Electric
Vickers
Virginia Power
Visual Solutions
Markets & Major Accounts
Industry
Process Control
Transportation
ABB-Instrumentation
Allen Bradley
Carrier Corporation
Corning
Fuji Electronics
General Electric
3M
Honeywell
Hughes
IBM
Johnson Controls
Motorola
Raytheon
TRW
Toshiba
United Technologies
Westinghouse
Alcan Rolled Products
Amoco
Bethlehem Steel
Bayer
BP Chemical
Emerson Process
Dow Chemical
DuPont
Foxboro
General Mills
Georgia Pacific
International Paper
Kaiser Aluminum
Mead Paper
Mobil Chemical
Potlatch
Weyerhaeuser
ABB
Bombardier
British Rail
Renault
Eaton
Ford
GM
Honda R & D
Mazda
Volvo
VisSim in Process
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Dupont Nomex plant model for off-line tuning
Ineos-chlor – operator training, off-line tuning
Emerson Process – pulp and paper modeling
Honeywell – pulp and paper plant modeling for
optimization and troubleshoot
• HP – printer fabrication logistics optimization
• Amoco – off shore oil rig gas turbine simulation
VisSim in Biomedical
• Resmed – Human respiration models, embedded test
• Medtronics – Respirator test
• Cardinal Health – Respirator modeling and
development
• Medran – Digital filtering for MRI vital stat monitor
• Respironics – Respirator develoment
• Newport Medical – Respirator develoment
• Luminous Medical – Automated blood glucose
monitoring
VisSim in Water Treatment
• East Bay Municipal District – Oakland, Cal
– models problematic flow and filtering systems for control
improvement
• Passaic Valley Sewerage Commissioners
– Treats 25% of New Jersey Waste Water
– Use VisSim models to develop new controls for Flow
Balance and Level Control
– Paper given at ISA WWAC 2009
• Scottish Water Authority
– VisSim modeled effect of PLC control of dam sluice gates
on reservoir height for high rain event
VisSim in Automotive
• Mercedes-ILMOR
– models Formula 1 McClaren engines(V10 - 885 BHP).
– Analyze aspects of engine control such as adaptive
torque, high pressure injection
• Delphi Automotive
– Develop anti lock braking. Use laptop w/VisSim/RealTime
to test control strategies
• Chrysler
– Models aspects of manufacturing line
• Freightliner
– Test track steering control
What our users say:
• I am using Vissim 7.0 almost every day. I am very pleased
with the functionality and new blocks that have been added
with for the F280x controller from TI. I think that you are now
achieving your statement (from the TI site) that VisSim ECD is
capable of creating a complete control algorithm for the F280x
directly from the VisSim environment.
• As a developer of high and very-high power digitally-controlled
power supplies, I don't have the time to get too much into the
nitty gritty of the DSP and find the VisSim environment ideal
for me. I would like to thank you for your support at VisSim
and the continuing development of your software
• Tony Boon Power Engineer CEG Elettronica
Recent customer ship of control
designed and developed 100% in VisSim
• Electric Motion Systems developed F2801
based controller with:
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PMSM space vector control
Hall sensor interpolation
Cruise control
Regenerative braking
Temp & bus voltage sensing
I2C read/write to EEPROM
Serial port protocol to read and write packet
commands for status, accel, cruise, brake etc.
http://www.electricmotionsystems.com/
VisSim Overview
• Visual block diagram software for dynamic
system simulation and embedded system
development.
– Fast, accurate dynamic simulation for floating and
fixed-point
– Automatic production of high quality fixed point code
– Exceptional dynamic and DSP-in-loop simulation
capabilities
– Automatic programming of on-chip DSP peripherals
• Intuitive, easy-to-use graphical user interface
Product Line
• VisSim Core Visual Simulation Tool - build,
simulate and debug dynamic systems
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Simulink Translator
3D Animation
Over 100 built-in blocks
Built-in C & VML interpreter
Matlab interface
Royalty free redistributable Viewer
VisSim Add-ons
• Real-Time - Allows up to 30 kHz closed loop
sampling from VisSim on PC
• C-Code - Generates ANSI C from diagram
• Analyze - Frequency domain analysis of
linearized non-linear subsystem (Bode, Rootlocus, Nyquist plots)
• Fixed-point - Block set of bit true scaled
integer operations for simulation and code
generation
VisSim Add-ons (cont.)
• Comm - Physical layer data communication
• Optimize Pro - Generalized Reduced Gradient method of
parameter optimization
• Neural nets - Neural network construction and training
package
• DSP Targets – Texas Instruments C2000, MSP430, C6713
• OPC Client – connects to any OPC server for factory floor
acquisition, operator training/tuning against factory model
• PMD DK2300 – motion controller interface for BLDC, stepper
and Brush DC motors. Takes trajectories, jerk, accel & velocity
limits and creates motor commands.
VisSim/Comm
• Addon for physical layer data communications
• Performs Modulation/Demodulation,
encoding/decoding, channel fading, filtering,
BER analysis
• 802.11g
• Ultrawide band short range “bluetooth”
• Supports Red Rapids card for soft radio Rx/Tx
VisSim Motion Block Set
• Motion Block Set - Preconstructed block set for
motion control
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Includes AC Induction
Brush and brushless DC
Stepper motors
Controllers
Rotational and translational loads.
VisSim/Real-Time
• Supports National Instruments and
Measurement Systems
• Analog, digital, thermocouple, counter, PWM,
encoder
• 30 kHz close loop sampling straight from
Windows/NT,XP
• Just place block and select “Run in Real-Time”
from Simulations Properties dialog.
VisSim Plays Well with Others
• OLE interface- allows inclusion of any OLE
compliant software
– VisSim - Mathcad OLE interface allows graphics
plus data exchange
• VisSim - Matlab Integration allows matrix data
exchange and Matlab expression evaluation
• Simulink Translator brings Simulink diagrams
into VisSim workspace.
VisSim Custom Block API
• MSVC Wizard creates project for
custom block. Just drop in code.
• API allows:
– Menu positioning
– Block & connector naming and data typing
– Code generation
– Simulation info on integration method,
integration step, time step, current time
etc.
VisSim Co-simulation API
• VisSim co-simulation API allows fast, efficient
interprocess communication for co-simulation
interfacing.
• Based on NT shared memory and Events
• In use by iLogix Statemate
• General purpose API
Large Model Support
• Load 300,000 block model in under 2 minutes
• Embed blocks insert separate component
model files as subsystems
• Path aliases allow macro expansion to remove
file system dependencies
• Tags allow quick navigation in large system
VisSim Viewer
• Free redistributable run-time version of VisSim
• Allows licensed users to freely distribute
models to those who do not have VisSim
development licenses
• Easy way to share ideas, models and
simulations
• Supply proof-of-concept simulations to
potential customers
Diagram Construction
• Insert block by selecting toolbar icon or menu
item
• Change parameters by double or right mouse
click on block
• Connect by mouse-down on connector, drag,
mouse up on or near target connector
• Must have consumer to execute (Plot, display,
export etc.)
Block manipulation
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Select blocks by left-mouse+drag background
Right click to operate on selected blocks
Edit menu also operates on selected blocks
Left-mouse+drag on selected block to move
group
• Left click background to remove selection
Subsystem Properties
• Local Time – allows running at slower rate than main
sim. Must be multiple of base clock for DSP targeting.
• External Trigger – Use external logic to control
execution of subsystem.
• Name – Applies name to face of block
• Bitmap- Applies bitmap image to face of block
• Password protection – Use password to control
access to compound contents
• Create dialog box from contained dialog constants
Interesting blocks
• “Dialog Constant” blocks allow users to create
custom dialog boxes
• 1D,2D,3D table lookup with interpolation
• Variables for “wireless” data transfer
• Data file import/export (.csv,.txt,.m,.mat,.wav)
– Background timestamped event logging
– Used in measurement & test
– User control of log rate and operation
VisSim 7.0 – Released Jan 2008
• Improvements to core VisSim, ECD, OPC and RT
• New blocks: 3D Plot, 3D Animation, VRML, Matrix
operations, random generators
• New features: autosave interval, open last file, VML
(VisSim Matrix Language),
• Printing enhanced
• Bug fixes
• PMD motion I/O card driver
Digital Filter Design Tools
• IIR Low Pass, High Pass, Band Stop
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Butterworth, Bessel, elliptic,Chebyshev,Inverse Chebyshev
Floating point & fixed point
Continuous & Discrete
Z->S and S->Z domain conversion using Tustin (bilinear) transform
• FIR
– Multi-band Remez exchange
– Rectangular, Bartlett, Hamming, Hanning, Kaiser
Numerical Integration
• 9 different methods
• Euler is simplest fastest, least accurate
method
• Adaptive step are most accurate
• Stiff good for solving stiff sets of equations (hi
freq component that has small amplitude)
VisSim Variables
• VisSim variables allow data exchange by name
instead of by wire
Discrete systems
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1/Z sampled delay - clock input
Discrete transfer function
Sample hold
Other blocks work with both continuous and
discrete systems
• Compound block can be enabled, or run at
different sampling rate
• Work with scaled fixed-point data
Optimization
• Built-in optimizer can find optimal system
parameters by minimizing user defined cost
– Use by inserting parameterUnknown blocks & at
least 1 cost block.
• 3 built-in methods
• API for optional user method
• Addon method “Generalized Reduced
Gradient” provided by 3rd party
Matrix Operations
• All arithmetics (add,mul,div,gain etc)
• Const block takes matrix syntax ([1:n],eye(n)
etc.
• Unit delay, merge, plot, display all take matrix
operations
• Matrix mul, buffer, dot product, vector sum,
diag, PSD, fft, ifft, transpose, reshape, index
VisSim/Embedded Controls
Developer
• Bundle of VisSim, C-Code, target support, TI
Digital Motor Control block-set , fixed-point
block set, TI Code Composer Studio plug-in
• Supports MSP430, LF24xx, F281x, F280x onchip peripherals: Analog in, PWM, CAN,
encoder, event capture, serial, I2C, SPI, I/O
ports, watch dog
Model-Based Embedded Target
Support
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Low level support for Texas Instruments chips
Supports Linux and QNX
Support other targets and RTOS
No royalty on generated code
Addition of other hardware vendors like MicroChip,
ST, Infineon, Analog Devices etc is straight forward
due to external API template used.
Model and Validate
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Find and fix problems before codegen and target download
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Use high-level, predebugged blocks
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Support simulation of
controller at block level on
PC
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Allow mouse probe of every
input and output to display
values at any instant
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Debug block-level simulation
on PC
Debug and test
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Rapid diagram edit-compile-download-debug cycle (under 10 secs)
* Code automatically generated, compiled, linked, and
downloaded
VisSim on PC
Plant
Under
Control
Control
Application
Code*
C2000
MCU
JTAG
Target Interface block
Reads/writes data to MCU
VisSim blocks for:
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Virtual plant
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Interactive gains
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Scope Plots of MCU data
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Target-in-loop simulation of controller at code level on DSP through automatic code generation, compile, link,
and download, and using JTAG in “Real-Time Monitor” mode
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Test, debug, and validate the complete control system executing on DSP using an interface block
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Provide parameters and observe DSP results in VisSim on PC
On-Chip Peripherals
• All on-chip peripherals are supported
including:
ADC, digital inputs and outputs
PWMs, quadrature encoder
event capture, watch dog, interrupt, CAN bus
serial port, SPI, I2C, McBSP
TI Digital Motor Control (DMC)
Library
– hand-written, tested and optimized by TI
– available in VisSim/ECD in easy-to-use block set
– supports simulation mode (pure PC based
simulation with 16/32-bit truncation effects)
– supports code generation mode
– Speed/Flux Est., Park/Clarke xform, QEP speed
with filtering, Sliding Mode Observer rotor position
estimator, space vector wave form generator
– ACI motor simulator
Demo: DC-DC buck converter
• Demo of TI F28044 based DC-DC buck
converter.
– Uses PWM to RLC to control voltage
• Control sample rate is 400KHz
• CPU is 100 MHz
• Demo shows use of “monitor buffers” to
acquire data at 400KHz and display in VisSim
plot as digital scope.
VisSim Strengths
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Fast simulation – up to 10x faster than Simulink
Ease of use - many customer testimonials
Maturity and quality of code – low MTBF
Depth of features (real-time analog/digital I/O, analyze, OPC,
code-gen, CAN, 2D/3D plotting, 3D animation, filter
design,state transition blocks)
• Fast code generation – within 5% of hand coded applications
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Small code generation footprint – can fit closed loop controller
in 1.5KB flash/128 bytes RAM on MSP430 F2012
• Nimble – VisSim.exe only 3.5MB – total install 11MB
• Open, documented API for custom block creation
Next step
• Download trial from www.vissim.com
• Contact VisSim sales to determine training and
consulting needs