Trimming a Simulink Model Using the Linear Analysis Tool
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- เผยแพร่เมื่อ 15 ก.ค. 2024
- [UPDATES] - 21:50 - In newer version of Matlab, this is now called the ‘Model Linearizer’ and is found under the ‘APPS’ tab (access this tab from a Simulink model). This may require installation of the ‘Simulink Control Design Package’ add-on.
In this video we show how to use the Linear Analysis Tool to trim a non-linear Simulink model. This is also known as finding an operating point or an equilibrium point of a system.
Topics and timestamps:
0:00 - Introduction and references to other videos.
0:40 - Review of trimming a dynamic system.
11:18 - Case 1: +y direction at 15 m/s.
43:03 - Case 2: Arbitrary direction at 15 m/s.
53:45 - Case 3: Steady orbit.
1:02:34 - Case 4: +y direction at 10 m/s.
Lecture notes and code can be downloaded from github.com/clum/TH-cam/tree/...
Other videos in this series:
-Trimming a Model of a Dynamic System Using Numerical Optimization ( • Trimming a Model of a ... )
-Equations of Motion for a Planar Vehicle ( • Equations of Motion fo... )
-Trimming a Simulink Model Using the Linear Analysis Tool ( • Trimming a Simulink Mo... )
- Linearizing a Simulink Model Using the Linear Analysis Tool and ‘linmod’ ( • Linearizing a Simulink... )
All Control Theory videos in a single playlist ( • Control Theory )
#Control #ControlTheory
All Matlab/Simulink videos in a single playlist ( • Working with Matlab )
#Matlab #Simulink
You can support this channel via Patreon at / christopherwlum or by clicking on the ‘Thanks’ button underneath the video. Thank you for your help!
![fellow fellow - Proud [OFFICIAL MV]](http://i.ytimg.com/vi/9uZF7BlUQPE/mqdefault.jpg)
In case it is helpful, here are all my Matlab videos in a single playlist th-cam.com/play/PLxdnSsBqCrrEU0dLSrTcl0-w9cVYKMTaF.html. Please let me know what you think in the comments. Thanks for watching!
@Nasir Roman definitely, I have been using flixzone for months myself =)
@Nasir Roman Definitely, have been watching on flixzone for years myself :)
@Nasir Roman definitely, have been watching on Flixzone for since december myself :)
AE 512: Wow, very powerful and simple tool to use!
Jason-AE512: This video gave a good overview of how I can do trimming the simulink model in the Matlab. I get well learned through the video.
AA516: Trimming for the orbit was cool to see! I am excited to use this tool.
AE 512: FYI for newer R2022a version of Matlab:
(1) Install the "Simulink Control Design" add-on.
(2) "Linear Analysis Tool" is now called "Model Linearizer".
(3) Simulink menu bar is gone. Replaced by ribbon bar. Open the tool by going to Apps > Model Linearizer.
Thomas, thanks for the helpful notes, I'll make sure this comment is visible in the future!
Great Introduction to the Linear Analysis Tool. Thanks Chris
AA516: Allie S, This is a super handy tool. Matlab is becoming more and more of a favorite as time goes on.
AE512: very helpful tutorial here. Fairly straightforward to use.
A nice explanation, Not boring and super helpful! Thank you for your video!
Great tutorial of the Linear Analysis Tool as well as great tips / best practices for Simulink Development
AE 512: Thanks for updating for the newer release version in the description!
I'm glad you found it, sometimes it is hard to find that kind of information in the description so kudos for your detective skills :)
thank you for the lecture on the analysis tool and all the small hints on what could go wrong and how to restart the next day after saving.... def had to rewatch to get it to work again.
AE512: Very informative about the power of the linear analysis tool. After poking around with it, I was surprised that we could place more expansive constraints on the states (i.e not just a certain states value but rather expressions that related multiple states). Very powerful!
Dear Professor! Thanks for Your efforts!
AA516 - Great lecture as usual. I'm running R2020b and it took me a bit to figure out that I needed to download the Simulink Control Design addon in order to get Linear Analysis Tool. Also, in R2020b, the Linear Analysis Tool is called "Model Linearizer" and is under a different menu. This might be good info for the rest of class to know, if it wasn't already mentioned
Gary, thanks for the update and for blazing the trail with the newer version of Matlab. I'm sure others will benefit from your knowledge (hopefully they read the comments 😀)
Dear Professor. Thank you for this video and nice explanation.
AA516: This is a great tool to add to my matlab toolbox! Thank you!
AA516: Thanks for showing the power of the linear analysis tool and how trimming can be made simpler. The validation steps helped me make sense of how accurate it can be.
AE 512: Good to understand the theory behind this tool but it's so nice to just use this now.
AE511: good lecture/tutorial and cool and very helpful analysis tool.
AA516: That is very powerful tool. I've been reading some of the comments and it looks like some stuff has changed since the new updates. It looks like I have the neccessary packages installed. Thanks for the lecture Professor.
AE511: great tutorial on this very useful Matlab controls tool.
amazing vedio!thank you profesor！i always have difficult in linear analysis ,you helps me a lot!
Thank you for all your efforts, i really enjoy every video that you make. I would love to see a video about the Kalman Filter.
Happy New Year!!!
Thanks, I'm working on that video and hope to have it in a few weeks, thanks for watching!
AE511: very helpful, especially the import/export processes between the workspace and linear analysis tool
Great video on another new matlab function
AE501B: This is really good video and good tips.
Thanks you profesor (Sam)
AE512: This linear analysis tool could be a game changer for all kinds of engineering problems/applications. Would love to see this used in conjunction with Simscape
you're a savior. thanks a lot. Great work.
I'm glad it was helpful thanks for watching!
@@ChristopherLum can you please explain trimming using trim command in matlab. its for an assignment and i am not getting anything
AE512: Finding a trim point with the Linear Analysis Tool gui really simplifies the process. It should be a quick way to check trim points found using other methods.
AA516: Crazy powerful and also crazy simple
Oh my god you are amazing!
I'm glad it was helpful thanks for watching!
AA516: Forgot to comment earlier this week, very convenient function in MATLAB!
very helpful video! thank you very much! could you please upload the video" Equations of Motion for a Planar Vehicle" to which you refer at time 7:12?
Thanks Chris! This is a lot easier than using fminsearch. When would you want to use fminsearch instead of findop/Linear Analysis?
AE 511. Excellent tools in MATLAB
That's very interesting to me how some of the states go to very nearly their expected values in the simulation but not quite all the way (e.g. 14.999999 instead of 15).
where can i find the other videos about "Trimming a Model Using Numerical Optimization (TBD)" because i couldn't find it on you channel
Sorry for the delayed response. The video you are looking for is at th-cam.com/video/YzZI1V2mJw8/w-d-xo.html.
Hi! thank you for the videos, it is amazing! But i am having some throuble with my simulink model. It's trim using the linear analysis tool but once a initialize my model from that button on the operation point tab, my inputs changes for zero when the simulation is running. Do you know how i can solve this? thank you!
Hello
Thank you for the informative lectures.
Can you share the code of Simulink files, please?
I don't get how to build the planner vehicle part
Is there a way to constrain a state/input/output to be within a range of values? For example, can I set a maximum and minimum xdot for the planar vehicle with Simulink's Linear Analysis Tool?
if you consider perturbations in the plant, for example, perturbations caused by the environment or wind, would it be right to set theta and theta dot to zero or stady state? Thanks for your video, it’s amazing. Greetings from Spain
Introduction on using the Linear Analysis tool
Thanks professor. I was confused with some of the terminology used in this video. In case 1 when describing the constraints on xdot, specifically x2dot, it seems to me that you were saying that ydot is not at steady state. But isn't ydot at steady state, just at a constant non-zero value of 15? When you were describing the check boxes in the linear analysis tool it seemed to make more sense, that actually what you were describing is that y (x2) is not at steady state since ydot (x2dot) is non-zero. To me it would have made more sense if you would have described it as "is y (x2) at steady-state, or is ydot (x2dot) equal to zero". Do you agree, or am I not interpreting this correctly?
[AE 511] I had the same question as Brad a few years ago
Previously, you can have non-zero steady state values. It seems like steady state in the findop, we are defining steady state meaning 0
Thank you so much for your lecture, a very helpful video. Just have a quick question, where I can find the video that you mentioned in this video at time 7:27. The video name is the "equations of motion for a Planar Vehicle". I CANNOT find it on your channel.
Hi Weijun, unfortunately I'm still in the process of putting that video together. It is a little far down on the list of videos so it might take a while for it to get on the channel, sorry!
@@ChristopherLum Thanks Prof. Lum for your quick reply, I will watch it when it is ready on the channel.
thanks for the video. I have a question for you how can I create the model in Simulink as the video. I can know creating the planar vehicle in the video
Hi,
Thanks for the kind words, I'm glad you enjoyed the video. If you find these videos helpful, I hope you'll consider supporting the channel via Patreon at www.patreon.com/christopherwlum or via the 'Thanks' button underneath the video. Given your interest in this topic, I'd love to have you a as a Patron as I'm able to talk/interact personally with all Patrons. I can also answer any questions, provide code, notes, downloads, etc. on Patreon. Thanks for watching!
-Chris
what is the topic of the video mentioned in 07:15?
how can tun pid controlled large matlab simulink ;that can't do manually linearized since the system is nonlinear
A A 516: Ojasvi Kamboj
AA 516: With the current matlab edition how can I access the analysis tab in simulink?
I may have answered my own question, I just ran across Gary's comment below!
I couldn't find the video which has the equations of motion
PLEASE HELP
I dont know why but my linearized model is far different than actual.I tried changin linearization points,getting rid of problematic blocks which collapse to zero or inf gain during linearization but didnt help..I noticed also derivative block doesnt become "s" but something different with additional pole due to "c" coefficient,maybe thats what cause problem?.Can someone give some suggestion about how can i do it properly?
Hi,
Thanks for reaching out. If you have questions or would like to request a video, I hope you'll consider supporting the channel via Patreon at www.patreon.com/christopherwlum. I'd love to have you as a Patron as I'm able to talk/interact personally with Patrons. Thanks for watching!
-Chris
[AE 512] 16:24
Why is \dot{x}_2 not steady state? It is moving at 15 m/s but it's constant which means it's at steady state? Or does steady state in this case mean 0?
We want the boat moving in the +y direction so this means that y will be changing, but x is constant. Because x_1 = x and x_2 = y, this means that \dot{x}_1 should be 0 but \dot{x}_2 should be equal to the desired y-velocity.
@@ChristopherLum I agree that \dot{x}_2 = \dot{y} = 15 m/s. But 15 m/s is a constant value in this trim case which also means it is steady state. One steady state value is a constant of 0, but it can be any value (like 15 m/s) and still be steady state.
Ah, I see, I was using the SS notation to denote which states are in steady state. Go forward to around 24:30 and you'll see that the steady state constraint is on the state vector.
AA 516: Can you post the planar vehicle model so we can follow along in Matlab?
Hi Tim, I'd actually recommend that you follow along using your RCAM model. The planar vehicle is actually too simple and you really want to do this with your aircraft model. If you run into trouble and want the planar vehicle let me know and I can try to dig it up and send it.
@@ChristopherLum I have managed to make it work on RCAM with some initial struggle. The difference between versions are quite apparent here.
AA516
quick question, why 6 dof equations instead of 9 (3 translation, 3 momentums, 3 kinematics)
Thanks for reaching out. If you have questions or would like to request a video, I hope you'll consider supporting the channel via Patreon at www.patreon.com/christopherwlum. I'd love to have you as a Patron as I'm able to talk/interact personally with Patrons. Thanks for watching!
@@ChristopherLum absolutely. thanks
@@alexnguyennn Phi, great, I'll be sure to look for you over on the Patreon page. Please feel free to re-post this or any other question over there and I'll be able to respond and we can talk more about control systems on the Patreon platform. I'm looking forward to the talk!
-Chris
@@ChristopherLum i just registered and i will directly ask you if i have question. i have been following you for a month on TH-cam and Linkedin :). For this video, i think there is 2D so only have 6 dof, the other video RCAM model is using full derivation.
@@alexnguyennn Thanks, I'm thrilled to have you as a Patron!
To answer your question, the nomenclature of 'degrees of freedom' is sometimes a little lose. With traditional rigid body dynamics, you can describe the orientation (sometimes also referred to as the pose) using 6 values (3 translational position and 3 rotation euler angles). This is why most people refer to this as a 6 DOF model. However, if you are generating a dynamic model of this vehicle, from our investigation of state space models, we know that we actually need twice that many number of states (3 translational positions, 3 translational velocities, 3 rotational positions, and 3 rotational velocities) for a total of 12 states. Confusingly, sometimes people refer to states as degrees of freedom so you really need to be careful of the context in which these terms are used. In this particular video, you are correct in the sense that I've restricted the motion/dynamics to a 2D plane and as such, there are only 3 DOF which need 6 states to describe. Does this answer your question?
AA516:Po