LabVIEW Simulation Module

National Instruments Confidential

 LabVIEW Simulation Module
• Simulate dynamic systems including controllers & plants
• Real-time implementation for rapid control prototyping or hardware-in-the-loop
simulation

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 LabVIEW Simulation Module Benefits
• Complete simulation and real-time implementation capability - stay in
one environment from design to test to implementation
• LabVIEW user interface to change and observe parameters as
simulation or control system is running
• Use any LabVIEW VI or programming structure inside or outside of
simulation loops:
– Integrated design and simulation, batch simulation
– DAQ, RIO, Vision, or CAN for I/O and feedback
• Easily create parallel and multirate simulation or control loops

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LabVIEW Simulation Module Overview
• Linear systems – continuous and
discrete time
• Nonlinear systems blocks and lookup
tables
• Signal generation and graphing
• Fixed-step, variable step, and stiff
solvers
• Trimming and linearization
• Model hierarchy
• Integration with Formula node and
MathScript node (through subVI)
• Integration with 3D picture control for
system visualization

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Hardware Options for LV Sim
• Offline simulation – desktop computers
• Real-time simulation and control:
– PXI
– Desktop computers
– CompactRIO
– Compact FieldPoint
– Single board computers (SBC)
– 32 bit processors w/ LV Embedded (pioneer stage)

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Little or No Learning Curve for The Mathworks, Inc.
Simulink® Software Users

• LabVIEW Simulation Module

• The Simulink® software environment

Simulink® is a registered trademark

of The MathWorks, Inc.

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LabVIEW is the original …
Little or No Learning Curve for The MathWorks, Inc. Simulink® Software
Users
LabVIEW The Simulink® software
Simulation Module environment

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 LabVIEW Loop Structures
• LabVIEW While Loop
• LabVIEW Timed Loop
– precise timing
• LabVIEW Simulation Loop
– precise timing + ODE solver

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Simulation Parameter Configuration

• Interactive configuration
• Programmatic
configuration

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LabVIEW Simulation Module Demo

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 Debugging and Errors
• Create indicator for error output of
Simulation Loop
• Utilities>>Get Simulation Parameters,
create indicator
• Execution highlighting
• Breakpoints
• Probes
• Custom probes
• Single-stepping

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Software Tip for LV Sim

• The parameters for each block can be set to be

set to:
– Configuration Dialog Box
– Terminal
• Allows for parameters to be set through data
flow programming and mixing of toolkits and
modules in one VI

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Simulation Icon Styles
• Can change icon style of
blocks within simulation
loop or subsystem
– Static
– Dynamic
– Text Only
– Express
• Right-click on block and
choose “icon style”

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Simulation Timing Capability
• Can slow down time to study fast dynamics in detail
(collision between two cars)
• Can speed up time to study slow dynamics efficiently
(temperature control of large water tank)
• Can tie simulation time to wall clock (choose auto
period)
• Finish time can be infinite to allow user to adjust
dynamics or control gains as simulation is running

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Simulation Exercise I – sw timing

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Simulation Exercise II – hw timing

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Simulation Exercise III - hw timing w delay

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Ordinary Differential Equation (ODE) Solvers
• ODE solvers approximate solution to
continuous time systems described
by differential equations
• Considerations in choosing solver:
– Accuracy vs computational speed dy
• High-order ODE solvers more accurate  f (t , y )
• Low-order ODE solvers are faster dt
– Fixed time step vs. variable time step y (t0 )  y0
• Variable time step are faster
• Fixed time step recommended for real-time
implementation
– Stiff systems (transients vary more quickly than
problem solution)
• dt is step size of ODE solver

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Solver Types:
• Fixed step size:
– Runge-Kutta 1 (Euler)
– Runge-Kutta 2
– Runge-Kutta 3
– Runge-Kutta 4
• Variable step size:
– Runge-Kutta 23
– Runge-Kutta 45
– BDF (moderately stiff systems)
– Adams-Moulton
– Rosenbrock (some stiff systems)
• Discrete States Only (fixed time steps for discrete-time systems)

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Simulation Discontinuities
• ODE solvers assume that signals and derivatives of
signals are continuous
• Discontinuities in nonlinear and discrete systems are
accounted for by LV Sim
• For other discontinuities, use Detect Zero Crossing
function or configure Integrator function to reset when
signal crosses zero

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Continuous Linear Systems

• Following models supported:

– State space
– Transfer function
– Zero pole gain
• Integrator
• Derivative
• Transport Delay

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 Discrete Linear Systems
• Following discrete models supported:
– State space
– Transfer function
– Zero pole gain
• Discrete Integrator
• Discrete Derivative
• Discrete Zero Order Hold
• Discrete First Order Hold
• Discrete Filter

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Nonlinear Systems and Lookup Tables
• Backlash
• Dead Zone
• Friction
• Quantizer
• Rate Limiter
• Relay
• Saturation
• Switch
• Detect Zero Crossing

• Lookup Tables (1,2, & 3D)

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Signal Arithmetic
• Gain
– Reverse direction
• Summation
– Change signs
– Add or null inputs
– Change shape
• Multiplication
– Can add inputs
– Change shape

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Exercise: Formula Node & Prog Structures for
Phase Plane Analysis

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LabVIEW for Design, Prototype and Deploy
LabVIEW conditional compiling
technology provides for:
– Model reuse
– Test reuse
RCP Target

Embedded Target

HIL Target

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 Demonstration: CompactRIO demo with
LabVIEW Simulation Module and RIO I/O
Real-Time

FPGA

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Implementation Choices

• LabVIEW Control Design Toolkit Implementation

VIs running in Timed Loop
• LabVIEW Simulation Module

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