Sci cosim: Difference between revisions
→How to Run and Change an Xcos diagram
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2) Get these 2 files from Dropbox and put them in your PWD. | 2) Get these 2 files from Dropbox and put them in your PWD. | ||
5) Run the .m file | 3) Click in the sci_pid_model.zcos file to start Scilab and Xcos You should see a diagram of the control system. | ||
4) Open the sci_pid_example.m file in your octave editor. | |||
5) Run the sci_pid_example.m file | |||
You should see a plot that has the output of the plant with no feedback, and the output of the plant in the feedback loop and the control action signal that has been clipped at 5 volts. | |||
6) You can then play with the PID parameters in the M file and see how they affect the output. | 6) You can then play with the PID parameters in the M file and see how they affect the output. | ||
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7) In the loop diagram in Xcos click in the "SATURATION"(clipper) box and change the clipping to be 10 Volts | 7) In the loop diagram in Xcos click in the "SATURATION"(clipper) box and change the clipping to be 10 Volts | ||
8) Rerun the | 8) Rerun the M file and retune the PID. | ||
9) Now for a little harder problem. Lets change the plant parameters to (s+1)*(s+5) | |||
If you just click on the plant and try and do this, Xcos might complain that it doesn't know what k is, if this happens you have to first go to the Scilab main window and put k=1 there. k will be changed from your M file later. Now you will be able to change the plant in both locations. | |||
10) In the m file set k=5 and run the new system | 10) In the sci_pid_example.m file set k=5 and run the new system | ||
11) Now lets add a time delay in the feedback part of the loop. | 11) Now lets add a time delay in the feedback part of the loop. | ||
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11.6) The input and outputs are on the wrong side, so we will mirror it. | 11.6) The input and outputs are on the wrong side, so we will mirror it. | ||
Right click on the box and the select" format" and "Mirror" | |||
11.7) Move the box to a convenient place to rewire it in the feedback loop, | 11.7) Move the box to a convenient place to rewire it in the feedback loop, | ||
11.8) Now rewire it: | 11.8) Now rewire it: | ||
On the left side of the delay box is an output black arrow point, click on this and drag the mouse to the left until you are to the left of the summing junction box. | |||
Now let go of the left button and move the mouse pointer up to the height of the input pin of the summing box. | |||
Now move to the input pin until you get a green box around the input pin. | |||
Click the left mouse button again to make the connection. | Click the left button to place a corner in the wire. | ||
Now move to the input pin until you get a green box around the input pin. | |||
Click the left mouse button again to make the connection. | |||
11.9) We now have to join a wire to an existing wire. | 11.9) We now have to join a wire to an existing wire. | ||
Place the mouse pointer on the wire from the output of the plant. | |||
The wire should be highlighted but not selected. | |||
Hold the left mouse button down and start drawing a wire. | |||
Join it to the input of the delay | |||
12) Double click on the delay box and change the delay to be .1 seconds. | 12) Double click on the delay box and change the delay to be .1 seconds. | ||
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14) In the M file change the line: | 14) In the M file change the line: | ||
sci_sim(' | sci_sim('sci_pid_model.zcos'); %Running xcos simulation | ||
to | to | ||
sci_sim('newname.zcos'); %Running xcos simulation | sci_sim('newname.zcos'); %Running xcos simulation | ||