LabVIEW 2009SP1 Control Design and Simulation Module Win32Eng LabVIEW控制设计和仿真模块CDSIM2009SP1

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LabVIEW 2009SP1 Control Design and Simulation Module Win32Eng LabVIEW控制设计和仿真模块CDSIM2009SP1

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CDS2009SP1

LabVIEW 2009 SP1 Control Design and Simulation Module Readme

Version 9.0.1

December 2009

The LabVIEW 2009 SP1 Control Design and Simulation Module updates the LabVIEW 2009 Control Design and Simulation Module to address known issues from the previous release.

If you have already installed the LabVIEW 2009 Control Design and Simulation Module, you must first uninstall this version before installing the 2009 SP1 Control Design and Simulation Module.

Known Issues with Version 2009 SP1

You can access the software and documentation known issues list online. Refer to the National Instruments Web site for an up-to-date list of known issues in the LabVIEW 2009 SP1 Control Design and Simulation Module.

Bug Fixes in Version 2009 SP1

Bug ID	Fixed Issue
184832	Simulation Model Converter crashes LabVIEW when Simulink is installed and model doesn't compile

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LabVIEW 2009 Control Design and Simulation Module Readme

June 2009

The LabVIEW 2009 Control Design and Simulation Module provides tools with which you can analyze open-loop model behavior, design closed-loop controllers, simulate online and offline systems, and conduct physical implementations. This file contains the following information about the Control Design and Simulation Module.

System Requirements
   Supported Operating Systems
   Limitations on Mac OS and Linux
Version 2009 Features and Changes
Installation/Upgrading Instructions
   Windows
   Mac OS
   Linux
Accessing the Help
Finding Examples
Known Issues

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System Requirements

The Control Design and Simulation Module has the following requirements:

• LabVIEW 2009 Full or Professional Development System
• At least 350 MB additional disk space for Control Design and Simulation Module support
• (Optional) LabVIEW MathScript RT Module. In LabVIEW 2009, LabVIEW MathScript becomes the LabVIEW MathScript RT Module. You cannot run VIs from previous versions of LabVIEW that contain MathScript Nodes until you install and activate the MathScript RT Module or remove the MathScript Nodes from the VIs. If you have already purchased the MathScript RT Module, select Help>>Activate LabVIEW Components to activate the product.
  

Supported Operating Systems

You can run the LabVIEW Control Design and Simulation Module installer on the following operating systems:

• Windows 7 (32-bit and 64-bit)
• Windows Vista (32-bit and 64-bit)
• Windows XP (32-bit)
• Windows 2000
• Windows Server 2003 R2 (32-bit)
• Windows Server 2008 R2 (64-bit)
  

The LabVIEW Control Design and Simulation Module installer does not support Windows NT/Me/98/95 or the Windows Server non-R2 editions.

Note  National Instruments is committed to maintaining compatibility with Microsoft Windows technology changes. However, NI has become aware of a number of issues of potential significance regarding Microsoft Windows 7. To learn how Windows 7 affects your use of NI products, visit ni.com/info and enter the info code windows7.

Limitations on Mac OS and Linux

The LabVIEW Control Design and Simulation Module on Mac OS and Linux does not support the following features:

• LabVIEW Control Design Assistant
• Real-Time support
• Microprocessor SDK support
  

Version 2009 Features and Changes

The LabVIEW 2009 Control Design and Simulation Module incorporates the following new features and changes.

Using the External Model Interface

Previous versions of the LabVIEW Control Design and Simulation Module provided an External Model Interface (EMI) as an example in the labview\examples\Control and Simulation\Simulation\External Model Interface\External Model Interface Node directory. The LabVIEW 2009 Control Design and Simulation Module provides a new, more robust version of EMI.

Third parties can use EMI to create an external, or third-party, model in C/C++. LabVIEW users can use EMI to simulate the external model in the Control Design and Simulation Module.

If you are a third-party user of EMI, you first must create a C/C++ project that uses the External Model Interface functions to define the dynamic equations for your model. Export the External Model Interface functions as appropriate for the structure of the model. Then build the C/C++ project into a shared library and distribute the shared library to end users.

If you are a LabVIEW user of EMI, use the External Model function in LabVIEW to reference the shared library you receive from a third-party. Use the External Model function to represent and simulate your model that corresponds to the shared library. When you run the simulation, the Control Design and Simulation Module uses an ordinary differential equation (ODE) solver to compute the behavior of the dynamic system model that the External Model function represents. The Control Design and Simulation Module calls the External Model Interface functions that the corresponding shared library exports.

Note  Shared libraries created in the previous version of EMI no longer work in the current version. However, the previous version of EMI still is available in the labview\examples\Control and Simulation\Simulation\External Model Interface\External Model Interface Node directory.

Using the External Solver Interface

Use the External Solver Interface (ESI) to create and use external ordinary differential equation (ODE) solvers in the LabVIEW Control Design and Simulation Module.

First use the External Solver Interface functions to create the ODE solver in C/C++. The solver must export all of the Callback API functions. Build the C/C++ project into a (Windows) .dll, (Mac OS) .framework, or (Linux) .so shared library file.

To use the external solver, copy the shared library for the solver into the labview\vi.lib\Simulation\ContinuousLinear\Implementation\Shared\Solvers\Plugins directory. In LabVIEW, double-click the Input Node of the Control & Simulation Loop to display the Configure Simulation Parameters dialog box. Then select the external solver from the ODE Solver pull-down menu. The item in the ODE Solver pull-down menu corresponds to the name you specify for the solver using the Information function.

Estimating States of Nonlinear Stochastic State-Space Models with Extended Kalman Filters

In previous versions of the LabVIEW Control Design and Simulation Module, you can use the Discrete Kalman Filter function and the Continuous Kalman Filter function to estimate the states of a linear discrete or linear continuous stochastic state-space model, respectively. In the LabVIEW 2009 Control Design and Simulation Module, you can use the Continuous Extended Kalman Filter function and the Discrete Extended Kalman Filter function to estimate the states of a nonlinear continuous or a nonlinear discrete stochastic state-space model, respectively.

The Continuous Extended Kalman Filter function and the Discrete Extended Kalman Filter function estimate model states of a partially observable plant based on noisy measurements. First, use the SIM Discrete Nonlinear Plant Model template VI or the SIM Continuous Nonlinear Plant Model template VI located in the labview\templates\Control and Simulation directory to define the system model. Then use the the Discrete Nonlinear Noisy Plant function or the Continuous Nonlinear Noisy Plant function to simulate the discrete or continuous nonlinear model, respectively, with the addition of noise.

The Continuous Extended Kalman Filter function and the Discrete Extended Kalman Filter function linearize the nonlinear system either by calculating a Jacobian matrix internally or by using an external Jacobian matrix that you define. Use the SIM Continuous Jacobians template VI or the SIM Discrete Jacobians template VI, located in the labview\templates\Control and Simulation directory, to define an external Jacobian matrix. Finally, use the Continuous Extended Kalman Filter function or the Discrete Extended Kalman Filter function to estimate the states of your model.

Refer to the LabVIEW Control Design User Manual for more information about estimating the states of nonlinear stochastic state-space models with extended Kalman filters.

Using the Estimation Functions

The Estimation palette contains functions that estimate the states of a state-space system. The state-space system can be deterministic or stochastic, continuous or discrete, linear or nonlinear, and completely or partially observable.

Simulation Model Converter Enhancements

The Simulation Model Converter converts your model (.mdl) file, developed in The MathWorks, Inc. Simulink® software simulation environment, into a LabVIEW VI that contains a simulation diagram. The Simulation Model Converter now supports the conversion of additional Simulink blocks and provides improved support for previously supported blocks. Select Tools»Control Design and Simulation»Simulation Model Converter to launch the Simulation Model Converter.

The Simulation Model Converter now supports the conversion of the following blocks used in the Simulink software environment.

• Bias
• Bit Clear
• Bit Set
• Compare To Constant
• Compare To Zero
• Counter Free-Running
• Counter Limited
• Dead Zone Dynamic
• Detect Change
• Detect Decrease
• Detect Fall Negative
• Detect Fall Nonpositive
• Detect Increase
• Detect Rise Nonnegative
• Detect Rise Positive
• Difference
• Interpolation (n-D) using PreLook-Up
• Lookup Table Dynamic
• MinMax Running Resettable
• PID Controller
• Prelookup
• Random Number
• Rate Limiter Dynamic
• Repeating Sequence
• Repeating Sequence Interpolated
• Repeating Sequence Stair
• Saturation Dynamic
• Tapped Delay
• Unary Minus
• Weighted Sample Time Math
• Wrap To Zero
  

The Simulation Model Converter also supports conversion of the following blocks used in the Simulink application software under limited conditions.

• Discrete FIR Filter—The Simulation Model Converter can convert Discrete FIR Filter blocks only if they use scalar quantities.
• Integer Delay—The Simulation Model Converter cannot convert Integer Delay blocks that use initial conditions.
• Transfer Fcn First Order—The Simulation Model Converter cannot convert Transfer Fcn First Order blocks that use initial conditions, rounding, or saturation.
• Transfer Fcn Lead or Lag—The Simulation Model Converter cannot convert Transfer Fcn Lead or Lag blocks that use initial conditions, rounding, or saturation.
• Transfer Fcn Real Zero—The Simulation Model Converter cannot convert Transfer Fcn Real Zero blocks that use initial conditions, rounding, or saturation.
  

The Simulation Model Converter provides improved support for the following previously supported blocks used in the Simulink software environment.

• Assignment—In previous versions of the LabVIEW Control Design and Simulation Module, the converted subsystem in LabVIEW created by the Simulation Model Converter corresponding to this block might not have the same functionality as this block. The Simulation Model Converter now can convert this block with full functionality.
• Digital Clock—In previous versions of the Control Design and Simulation Module, the Simulation Model Converter can convert the Digital Clock block only if it uses a sample time of 1. The Simulation Model Converter now can convert this block for any sample time.
• Direct Lookup Table (n-D)—The Simulation Model Converter now can convert this block with tables of up to 10 dimensions.
• Matrix Concatenate—In previous versions of the Control Design and Simulation Module, the Simulation Model Converter cannot convert this block if the block concatenates matrices along arbitrary dimensions. The Simulation Model Converter now can convert this block when the block concatenates 2D matrices along rows, columns, or a third dimension.
• MinMax—In previous versions of the Control Design and Simulation Module, the VIs and functions in the converted subsystem created by the Simulation Model Converter and that correspond to this block might not have the same functionality as this block. The Simulation Model Converter now can convert this block with full functionality.
• Reshape—In previous versions of the Control Design and Simulation Module, the Reshape block might transpose 2D results. The Simulation Model Converter now converts the Reshape block to a simulation subsystem that correctly handles 2D results.
• Rounding Function—In previous versions of the Control Design and Simulation Module, the VIs and functions in the converted subsystem created by the Simulation Model Converter and that correspond to this block might not have the same functionality as this block. The Simulation Model Converter now can convert this block with full functionality.
• Scope—The Simulation Model Converter now can convert a Scope block that has multiple inputs.
• Selector—In previous versions of the Control Design and Simulation Module, the VIs and functions in the converted subsystem created by the Simulation Model Converter and that correspond to this block might not have the same functionality as this block. The Simulation Model Converter now can convert this block with full functionality.
• Sine Wave—In previous versions of the Control Design and Simulation Module, the Simulation Model Converter only can convert blocks that use frequency units of hertz. The Simulation Model Converter now can convert this block when the block uses other units of frequency, including radians per second, hertz, and degrees per second.
• State Space—The Simulation Model Converter now can convert this block for single-input multiple-output systems.
• Vector Concatenate—The Simulation Model Converter now can convert this block from all versions of the Simulink application software in which the Vector Concatenate block is included.
  

Installation/Upgrading Instructions

(Windows)

You can install all of your LabVIEW products—including the Control Design and Simulation Module—using the LabVIEW 2009 Platform DVDs. You can find installation instructions for the Control Design and Simulation Module along with activation instructions in the following locations:

• LabVIEW Release Notes, which are available in your LabVIEW software kit.
• LabVIEW 2009 Platform DVDs Readme, which is available on the top-level of LabVIEW Platform DVD 1.
  

To request additional LabVIEW 2009 Platform DVDs, refer to the National Instruments Web site.

Refer to the KnowledgeBase for information about maintaining existing installations of the LabVIEW Control Design and Simulation Module 8.6 or earlier.

Activating the Control Design and Simulation Module does not activate the Control Design Assistant. You must activate the Control Design Assistant separately.

(Mac OS) Complete the following steps to install the LabVIEW 2009 Control Design and Simulation Module for Mac OS X from the LabVIEW Control Design and Simulation Module installation CD.

• Insert the LabVIEW 2009 Control Design and Simulation Module installation CD and open LabVIEW2009CDSim.mpkg located under the LabVIEW_2009\Mac OS X directory.
• Select Continue to run a program to determine if the Control Design and Simulation Module can be installed on your system.
• Follow the instructions that appear on the screen and continue to the Select Destination dialog box.
• In the Select Destination dialog box, click the Choose button and select the version of LabVIEW (2009) to which you want to install the Control Design and Simulation Module.
  

Note  You must click the Choose button for a proper installation. If you do not select a location where LabVIEW is installed or you select a non-compatible version of LabVIEW, the installation will not complete.

• After you select the destination directory, click the Continue button to complete the installation.
  

(Linux) Complete the following steps to install the LabVIEW 2009 Control Design and Simulation Module for Linux from the LabVIEW Control Design and Simulation Module installation CD.

• Log into the system as root.
• Insert the LabVIEW 2009 Control Design and Simulation Module installation CD. Use mount /mnt/cdrom to mount the CD. On some systems, the CD mounts automatically.
• To change the current directory to the mounted CD, enter the following command:
  
  cd /mnt/cdrom
• To run the installation script, enter the following command:
  
  sh ./INSTALL
  
  If you encounter the following message: "bad interpreter: Permission denied", the CD may not have mounted with executable permissions. To work around this, enter the following command:
  
  /bin/sh ./INSTALL
  

Accessing the Help

The LabVIEW Control Design User Manual contains conceptual information about using the control design functionality of the Control Design and Simulation Module. Open this manual by selecting Start»All Programs»National Instruments»LabVIEW 2009»LabVIEW Manuals and opening CD_User_Manual.pdf or by navigating to the labview\manuals directory and opening CD_User_Manual.pdf.

The LabVIEW Control Design and Simulation Module Help contains conceptual, how-to, and reference information about the Control Design and Simulation Module.

(Windows) Complete the following steps to access this help file.

• Launch LabVIEW.
• Select Help»Search the LabVIEW Help to launch the LabVIEW Help.
• Click the Contents tab.
• Navigate to the Control Design and Simulation Module top-level topic.
  

(Mac OS, Linux) Complete the following steps to access this help file.

• Launch LabVIEW.
• Select Help»Control Design and Simulation Module to launch the Control Design and Simulation Module Help.
  

Refer to the LabVIEW Control Design Toolkit Algorithm References for information about algorithms implemented in the LabVIEW Control Design and Simulation Module and their corresponding references. Access the LabVIEW Control Design Toolkit Algorithm References by navigating to the labview\manualsdirectory and opening CDreference.pdf.

Finding Examples

Refer to the labview\examples\Control and Simulation directory for example VIs that demonstrate common tasks using the Control Design and Simulation Module. You also can access these VIs by selecting Help»Find Examples from the pull-down menu and selecting Toolkits and Modules»Control Design and Simulation in the NI Example Finder window. You can modify an example VI to fit an application, or you can copy and paste from one or more examples into a VI that you create.

Known Issues

You can access the software and documentation known issues list online. Refer to the National Instruments Web site for an up-to-date list of known issues in the LabVIEW 2009 Control Design and Simulation Module.

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Important Information

Copyright

© 2009 National Instruments Corporation. All rights reserved.

Under the copyright laws, this publication may not be reproduced or transmitted in any form, electronic or mechanical, including photocopying, recording, storing in an information retrieval system, or translating, in whole or in part, without the prior written consent of National Instruments Corporation.

National Instruments respects the intellectual property of others, and we ask our users to do the same. NI software is protected by copyright and other intellectual property laws. Where NI software may be used to reproduce software or other materials belonging to others, you may use NI software only to reproduce materials that you may reproduce in accordance with the terms of any applicable license or other legal restriction.

Trademarks

National Instruments, NI, ni.com, and LabVIEW are trademarks of National Instruments Corporation. Refer to the Terms of Use section on ni.com/legal for more information about National Instruments trademarks.

Simulink® is the registered trademark of The MathWorks, Inc.

Other product and company names mentioned herein are trademarks or trade names of their respective companies.

Patents

For patents covering the National Instruments products/technology, refer to the appropriate location: Help» Patents in your software, the patents.txt file on your media, or the National Instruments Patent Notice at ni.com/patents.