Xcos Hybrid dynamic systems modeler and simulator

Xcos Hybrid dynamic systems modeler and simulator

Xcos
Hybrid dynamic systems modeler and
simulator
16th june 2010
Clément DAVID &
Yann COLLETTE
The Scilab Consortium
1
Xcos: Introduction
●
Internal Scilab module
Freely available with Scilab (free
and open platform for numerical
computation)
●
Purposes
Hybrid dynamic systems modeler
and simulator
Using functional black-boxes and
data/event links
2
Xcos: Features
●
Graphically model, compile, and simulate dynamical systems
Combine continuous and discrete-time behaviors in the same model
Select model elements from Palettes of standard blocks
Program new blocks in C, Fortran, or Scilab Language
●
Use standards
HDF5 standard which has been chosen to guarantee data exchanges
between Scilab and Xcos Editor
A free Modelica compiler which enables the simulation of implicit diagrams
A brand new graphical user interface based on JGraphX
3
Xcos: Overview
4
Xcos: Overview
5
Xcos: Overview
6
Xcos: Overview
7
Xcos: Overview
8
Xcos: Overview
9
Xcos: Overview
10
Xcos: Overview
11
Xcos: A simple block (1)
Controls
Inputs
Xcos block
Outputs
Commands
Data links and data ports
●
Data communication is handled by data ports and data links (in black)
Event links and event ports (discrete time)
●
Activation and control is performed through event ports and links (in red).
12
Xcos: A simple block (2)
Controls
Inputs
BLOCK.sci
block.c
parameters
management
runtime
evaluation
function
Commands
An interface function (Scilab macro)
●
Used to configure the block when editing the diagram
A functional implementation
●
Used to simulate the block in the simulation engine
13
Outputs
Xcos: the new editor
Xcos editor
Java-based diagram editor
● Ergonomic
● Run in parallel with Scilab interpreter
● Backward compatibility
●
Scicos compiler
Scilab
14
Scicos
simulator
Code
generation
Xcos: Reusing Scilab quality process
●
Available in nightly builds
●
Integrated in Scilab roadmap
●
Use Scilab development flow
15
●
Git revision system
●
Code review
●
Automatic nightly validation
Demo time,
any questions ?
www.scilab.org
16
ScilabTec 2010
Optimization of a PID regulator
17
Optimization of a PID regulator
The content of the xcos context:
if ~exists('w0') then w0
if ~exists('K0') then K0
if ~exists('m') then m
if ~exists('P') then P
if ~exists('I') then I
block_output('values') =
block_output('times') =
18
= 2*%pi*100; end
= 0.01;
end
= 0.5;
end
= 1;
end
= 1;
end
zeros(2000,2);
zeros(2000,1);
Optimization of a PID regulator
importXcosDiagram('automatic_test.xcos');
function y = f_pid(x)
context.w0 = w0;
context.m = m;
context.K0 = K0;
context.P = x(1)*Pfact;
context.I = x(2)*Ifact;
Info = scicos_simulate(scs_m,list(),context,flag='nw');
y_error = mean(abs((block_output('values')(:,1) - block_output('values')(:,2))));
y_diff = mean(abs(diff(block_output('values')(:,2))));
y = 0.5*y_error + 0.5*1*y_diff; .
endfunction
19
Optimization of a PID regulator
Before optimization
20
After optimization
Demo time,
any questions ?
www.scilab.org
21
ScilabTec 2010
Programming new blocks
22
Definition of a new C block
Goal:
Store N samples of the input in a buffer
Ouput the buffer as a vector output of size
N
Parameters:
Padding value (real parameter - rpar)
Buffer size (int parameter - ipar)
Buffer size
0
0,5
1
0,5
0
-0,5
-1
-0,5
0
0,5
1
We will first interface our block through a GENERIC
block (In the user defined palette).
23
Definition of a new C block
The simulation function side
#include "scicos_block4.h"
void buffer_vect_xcos(scicos_block *block, int flag)
{
int
nsamples
= GetIparPtrs(block)[0];
double padding_value = GetRparPtrs(block)[0];
1 – Initialization
2 – Simulation finalization
3 – Update block internal state
4 – Put the value on the output port
switch(flag)
{
case Initialization:
GetWorkPtrs(block) = (double *)MALLOC(sizeof(double)*nsamples);
for(int i=0;i<nsamples;i++) ((double *)GetWorkPtrs(block))[i] = padding_value;
break;
1
case Ending:
FREE(GetWorkPtrs(block));
break;
2
case StateUpdate:
for(int i=1;i<nsamples;i++)
((double *)GetWorkPtrs(block))[i-1] = ((double *)GetWorkPtrs(block))[i];
((double *)GetWorkPtrs(block))[nsamples-1] = ((double *)GetInPortRows(block,1))[0];
break;
3
case OutputUpdate:
for(int i=0;i<nsamples;i++)
((double *)GetOutPortPtrs(block,1))[i] = ((double *)GetWorkPtrs(block))[i];
break;
}
}
24
4
Definition of a new C block
The interface function side (1/2)
function
[x,y,typ]=BUFFERVECT_c(job,arg1,arg2)
...
select job
case 'plot' then
standard_draw(arg1)
case 'getinputs' then
[x,y,typ] = standard_inputs(arg1)
case 'getoutputs' then
[x,y,typ] = standard_outputs(arg1)
case 'getorigin' then
[x,y] = standard_origin(arg1)
case 'set' then
A
case 'define' then
B
end
endfunction
25
Definition of a new C block
The interface function side (2/2)
case 'define' then
buf_size = 1;
pad_val = 0.0;
model
= scicos_model();
model.sim
= list('buffer_vect',4);
model.in
= 1;
model.in2
= 1;
model.intyp = 1;
model.outtyp = 1;
model.out
= buf_size;
model.out2
= 1;
model.evtin = 1;
model.ipar
= [buf_size];
model.rpar
= [pad_val];
model.blocktype = 'd';
model.dep_ut
= [%t %f];
label = string([buf_size; pad_val]);
...
end
case 'set' then
…
while %t do
[ok,buf_size,pad_val,exprs] =
scicos_getvalue('Set parameters Block',..
['Buffer size';'Padding value'],
list('vec',1,'vec',1),
label);
if ~ok then break, end
if (buf_size<1) message ...
if ok then
In = [model.in model.in2];
[model,graphics,ok] = set_io(model,
Graphics,
list(in,1), list(in,1),1,[]);
if ok then
graphics.exprs = label;
model.ipar
= [buf_size];
model.rpar
= [pad_val];
…
break;
end
end
end
26
Some more custom blocks
The FFT scope
This block is not yet available under Scilab.
(Scilab 5.3)
Signal 1
Signal 2
27
External module hierarchy
XcosMod
builder.sce
Etc
XcosMod.start
XcosMod.quit
macros
help
en_US
fr_FR
sci_gateway
C
Cpp
Ffortran
src
C
Cpp
Fortran
tests
unit_tests
nonreg_tests
28
Building the blocks and build the palette
Loading macros, libs, gateways and adding
the palette to xcos
The interfacing functions of the blocks +
others functions
The simulation functions of the blocks +
other functions
Palette loading process
A part of XcosMod/builder.sce
// Build xcos palette
// =========================================================
xpal
xpal
xpal
xpal
xpal
xpal
xpal
xpal
=
=
=
=
=
=
=
=
xcosPal("Buffer");
xcosPalAddBlock(xpal,
xcosPalAddBlock(xpal,
xcosPalAddBlock(xpal,
xcosPalAddBlock(xpal,
xcosPalAddBlock(xpal,
xcosPalAddBlock(xpal,
xcosPalAddBlock(xpal,
'FFT_SCOPE',
'PS_SCOPE',
'VECTOR_SCOPE',
'BUFFER_VECT',
'REAL_FFT',
'INVERSE_FFT',
'WINDOW_FUNC',
module_dir
module_dir
module_dir
module_dir
module_dir
module_dir
module_dir
xcosPalExport(xpal, module_dir + '/Buffer.xpal');
A part of XcosMod/etc/XcosMod.start
// load palette
// ======================================
xcosPalAdd(module_dir + '/Buffer.xpal');
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+
+
+
+
+
+
+
'/macros/img/fft_scope.jpg');
'/macros/img/ps_scope.jpg');
'/macros/img/vector_scope.jpg');
'/macros/img/buffer_vect.jpg');
'/macros/img/real_fft.jpg');
'/macros/img/inverse_fft.jpg');
'/macros/img/window_func.jpg');
Demo time,
any questions ?
www.scilab.org
30
Thanks for your attention,
any questions ?
www.scilab.org
31