1© 2015 The MathWorks, Inc.

Designing the Controller for an

Electromechanical System Using a

Power Window Example

Vivek Raju

Application Engineer – Control Design

MathWorksDC Motor

2

Power Window ModelingSystem Configuration

Armature Current

+- 12V

Up

Up Down

Down

V+V-

H-BridgeDC Motor

s1 s2

s3

Control SystemMechanism

Switches

3

What are the challenges?

Designing the control logic based on the

requirements

Verifying the behaviour of a Multi-Domain System

Reduce the cost and the development time involved

in the project

Verifying the control logic for the set of

requirements

Effective team collaboration

4

Traditional development processes

Embedded

Software

C/C++

Electrical

Components

EDA

RESEARCH REQUIREMENTS

SPECIFICATIONS

DESIGN AND IMPLEMENTATION

Mechanical

Components

MCAD/

MCAE

Embeddable

Algorithms

Algorithm

Design

DESIGN AND IMPLEMENTATION

INTEGRATION AND TEST

Requirement Documents

Difficult to analyze

Difficult to manage changes

Paper Specifications

Easy to misinterpret

Difficult to integrate with design

Physical Prototypes

Incomplete and expensive

No system-level testing

Manual Coding

Time-consuming and introduces defects

Limited portability across targets

Traditional Testing

Design & integration issues found late

Limited traceability

5

Model-Based Design Workflow

Testing algorithms against

requirements is done by simulating

the model.

Requirements are linked to the

model.

Detail is added from specific

domains to refine the model.

Automatically generate code from the

simulation model for implementing

directly on production targets:

• Microcontrollers

• FPGAs

• PLC IDEs

INTEGRATION

REAL-TIME TESTING

Structured

TextVHDL, VerilogC, C++

MCU DSP FPGA ASIC PLC, PAC

DESIGN

Environmental Models

Signal Processing & Control Algorithms

Mechanical Electrical

RESEARCH REQUIREMENTS

TE

ST

& V

ER

IFIC

AT

ION

6

All the challenges can be

addressed by Model-Based

Design

Let us explore!!!

7

What are the challenges?

Designing the control logic based on the

requirements

Verifying the behaviour of a Multi-Domain System

Reduce the cost and the development time involved

in the project

Verifying the control logic for the set of

requirements

Effective team collaboration

8

Requirements for the controller design

DESIGN

REQIREMENTS

Control

Algorithms

9

What is Simulink®? What

applications can it simulate?

Block-diagram environment

Platform for Model-Based Design

Model, simulate, and analyze multi-

domain systems

Accurately design, simulate,

implement, and test:

– Control systems

– Signal processing systems

– Communications systems

– And other dynamic systems

10

What is Simulink?

11

What is Stateflow?

Extend Simulink with state charts and flow graphs

Design supervisory control, scheduling, and mode logic

Model state discontinuities and instantaneous events

12

Design Control Logic using Stateflow

13

Up Signal

Down SignalDriver

Up/Down

Obstacle Flag

Passenger

Up/Down

EndStop Flag

No Driver Input

Driver Down

Down

Driver Up

Up

No Passenger

Input

No Action

Passenger

Down

Down

Passenger

Up

Up

Control Strategy of Power WindowConcept Design of Window Control For Passenger

Down S/W Up S/W

EndStop /

No Input

Up S/WDown S/W

EndStop/

No Input

Emergency

Down

Down

Obstacle

14

Modeling Power Window ControllerStateflow

Up Signal

Down SignalDriver

Up/Down

Obstacle Flag

Passenger

Up/Down

EndStop Flag

15

What are the challenges?

Designing the control logic based on the

requirements

Verifying the behaviour of a Multi-Domain System

Reduce the cost and the development time involved

in the project

Verifying the control logic for the set of

requirements

Effective team collaboration

16

Verifying the control logic against a dynamic

system

DESIGN

REQIREMENTS

Control

Algorithms

Multi-Doman

Plant Model

17

Simscape

Power Window ModelingSystem Configuration

Armature Current

+- 12V

Up

Up Down

Down

V+V-

H-BridgeDC Motor

s1 s2

s3

Control SystemSimMechanics

SimElectronicsSimElectronics

SimElectronics

Mechanism

Switches

18

Session on Plant modeling

19

What are the challenges?

Designing the control logic based on the

requirements

Verifying the behaviour of a Multi-Domain System

Reduce the cost and the development time involved

in the project

Verifying the control logic for the set of

requirements

Effective team collaboration

20

Model-Based Design lets you verify the design

using real-time simulation

REAL-TIME TESTING

Structured

TextVHDL, VerilogC, C++

MCU DSP FPGA ASIC PLC, PAC

DESIGN

Environmental Models

Signal Processing & Control Algorithms

Mechanical Electrical

RESEARCH REQUIREMENTS

21

Automatically generate C code

22

Code Generation Capabilities

Embedded Coder (C)

DSP & µC FPGA & ASIC

HDL Coder

(Verilog or VHDL Code)

PLCPLC Coder

(Structured Text)

23

What are the challenges?

Designing the control logic based on the

requirements

Verifying the behaviour of a Multi-Domain System

Reduce the cost and the development time involved

in the project

Verifying the control logic for the set of

requirements

Effective team collaboration

24

Verify the model as well as the generated code

TE

ST

& V

ER

IFIC

AT

ION

REAL-TIME TESTING

Structured

TextVHDL, VerilogC, C++

MCU DSP FPGA ASIC PLC, PAC

DESIGN

Environmental Models

Signal Processing & Control Algorithms

Mechanical Electrical

RESEARCH REQUIREMENTST

ES

T &

VE

RIF

ICA

TIO

N

25

Functional testing (black-box)

Structural testing (white-box)

Design

Model Verification and Validation

Simulate and validate

controller responseReview functional

behavior

Structural coverage

report

Detect unreachable

design logic

26

Session on Verification and Validation

27

What are the challenges?

Designing the control logic based on the

requirements

Verifying the behaviour of a Multi-Domain System

Reduce the cost and the development time involved

in the project

Verifying the control logic for the set of

requirements

Effective team collaboration

28

Consolidate File Views

Combined Project Files and

All Files View

Easily add and remove files

from the project

Full drag and drop support

File actions tied to project

status: creation, deletion and

move.

Consolidated File View

» sldemo_slproject_airframe_git

Files Node

29

Improved dependency viewer

Easily find tools on

the new toolstrip

Expand files to see which

blocks have dependencies

Popup makes the viewer easy

to use even when zoomed out

Improved edge routing makes

it easier to interpret large projects

30

Rolled Up Source Control Status

Easy to locate changes in file

view.

Tooltip summarized what

changes are in the folder.

Fully recursive

Rolled up source control

status is shown for folders.

» Sldemo_slproject_airframe_git

Screen shot of the feature in

action

31

Toyota Uses MathWorks Tools to Increase

Quality, Reduce Costs, and Speed Time to

Market of New Vehicles

ChallengeSpeed up design, increase quality, and reduce R&D

costs by finding an alternative to traditional design methods

SolutionUse MathWorks tools for control design to prototype,

model, test, and refine control strategies in an integrated

design environment

Results Deliver a better product to market faster — and at a

lower cost

Reduce time to embedded code

Forge a pathway to innovation

“MATLAB, Simulink, and

Stateflow… have become the de

facto standard at Toyota for

simulation, data processing, and

controls design. It would be

impossible to list all of the

applications for these tools at

Toyota.”

Akira Ohata

Toyota

Link to user story

32

ChallengeSpeed the development and certification

of a power electronics control system for a

distributed power storage system

SolutionUse Model-Based Design with MATLAB and Simulink

to run simulations of power electronics, the electrical

grid, and controller; generate production

microcontroller code; and achieve certification

Results Six months of development time saved

Thousands of dollars in board spin costs saved

System fully operational days after hardware

becomes available

Stem Accelerates Development of

Power Electronics Control Systems with

Model-Based Design

A commercial installation of Stem’s

PowerStore energy system.

Link to user story

“With Model-Based Design we

saw exactly how our controller

would work with the hardware

even while the hardware was

being developed. After we had the

hardware, refinements were easy

because the simulations matched

what we saw on the scope, and

that gave us tremendous

confidence in the design.”

David Erhart

Stem

33

Q&A with Stem on the Advantages of Model-

Based Design

34

Thank you

Any Questions?