Create/Modify Control System
Mechatronics -> Control System -> New/Modify
Creates or modifies a Control System.
For the option: | Do the following: |
|---|---|
Name | Enter the name that you want assigned to the control system. |
Type | This option is only available in Adams Car. (In Adams View this option is disabled as there is no symmetry). Select one of the following: ■left/right - Define if the left or the right signal are displayed in the dialog box. The corresponding opposite control system will be created/modified in the same manner. ■single - A nonsymmetric control system will be created/modified. |
System Type | Here you can select among the following alternatives: 1. Function Expression The controller is expressed by its output control signals as function expressions of input signals. For instance, a control system with 4 inputs and 2 outputs: output1 = 3*input1 + 2*input2 / 6*input3 - input4 output2 = -9*input1 * 2*input2 + 12*input3 / input4 In addition to the control system inputs, the output could also be dependent on any other Adams Solver entity. If other solver entities are used in the function expressions and they are only valid when the control system type is set to function, use select objects dialog box for activating/deactivating the entities which are dependent on the type and activity of the control system. 2. External System Library The controller is modeled in Matlab/Simulink, Easy5, or FMU. By using Code Generation in Simulink or code generator in Easy5, together with Adams interface routines, a dynamic link library file can be created to be used in Adams Controls and Adams Mechatronics. In order to effectively access the library file in Adams Mechatronics, a special external system library property file (*.esl file) is created. Learn more about Control System Import. 3. Co-Simulation The controller is defined in a separate control application and the (discrete) communication between Adams and the control application is handled via the Co-Simulation functionality in Adams Controls. |
Library Property File | If you selected the External System Library option as the controller type, you need to select an ESL property file (*.esl) which points to the ESL (aka dynamic link library) file. In Adams Car you may postpone selecting ESL property file to the Standard User mode prior to starting the simulation. While in Adams Car the ESL property file is saved in the Adams Car database under the external_system_libraries.tbl directory, in Adams View it is saved in a user specified target directory. The ESL file itself, is saved in a subdirectory named as the operative system platform (for example, win32 in Windows), which is located under the ESL property files directory. See an Example of ESL file. |
Static Hold | Determines if you want Adams Solver to keep the initial value of the control signal constant during static analysis. |
Control Package | If you have selected Co-Simulation as control system type, select the controls software you are using. |
Initial Static Analysis | Adams Car will automatically run the appropriate static analysis, and therefore you should normally select 'No' on this option. |
Real Time FMI Parent | This option is available only when the Control Package is selected as FMU v1.0 or v2.0. It is used to select the software package that acts as the real-time FMI parent. It is to be used only for real-time simulations. The currently supported real-time FMI parents are SIMulation Workbench® from Concurrent REAL-TIME and SCALEXIO® from dSPACE. If None is selected, then the FMI parent is any generic parent which supports the FMI specification. |
Communication Mode | Select whether the communication should be done using TCP/IP/PIPES or DIRECT mode. DIRECT mode works only with C++ solver and when the parent is not Adams. This is applicable only when the Control Package is selected as FMU v1.0 or v2.0. |
Include MNF | This option is available only when the Control Package is selected as FMU v1.0 or v2.0. It provides the user an option to either include the mnf files or exclude them from the FMU. These are used for the animation of the flex bodies in the model. Excluding these files could reduce the size of the FMU considerably. It is enabled only when there are flex bodies in the model and when there are no flex body contacts. If there are no flex bodies in the model, then it is disabled and set to a value of "No" by default. If there are flex body contacts in the model, then it is disabled and set to a value of "Yes" by default. |
Real Time FMI Parent | This option is available only when the target software is selected as FMU v1 or v2. When FMU v1 is selected, the options are None and SIMulation Workbench. When FMU v2 is selected, the options are None, SIMulation Workbench and SCALEXIO. Selection of "None" results in a generic FMU being generated that can be used in non-realtime environments. Options like "Adams Solver Choice" in Export Plant dialog box and "Communication Mode" in this dialog box are enabled and are available for selection. Selection of either "SIMulation Workbench" or "SCALEXIO" results in an FMU customized for the corresponding real-time FMI parent. In this case, the options like "Adams Solver Choice" and "Communication Mode" are unavailable for selection. |
Output Rate | This option is available only when the Control Package is selected as FMU v1.0 or v2.0. It specifies the rate at which the data is written to the output files. The default value is 1 which means that the data is written to the output files at every step. |
Number of Inputs | Enter the number of inputs of the control system. |
Number of Outputs | Enter the number of output of the control system. |
Active | Select whether the control system should be active or not in the assembled model. |
 | Select to add any comments about the control system to help you manage and identify it. |
 | Select to define the input and output control signals. Please note that you must perform this task before selecting Apply or Done in the current dialog box. |
 | Select to import a library file and generate an ESL property file. |
 | Select to export files to a control package. This (shortcut) button is only available for a control system of type ESL, and when you select to generate an ESL property file. To make an export for Co-Simulation, run an analysis first. |
 | Select to view property file information. By default, your template-based product displays this information in the Information window, but you can choose to display the information in a text editor. Learn about: |
 | Select to set the entities that should be activated/deactivated depending on whether the control system type is set to "function" or not. |
Example below shows the content of an ESL file:
The LIBRARY keyword in this example points to a dynamic link library file called 'Case4_ABS_GSE.dll' (the file suffix may be .so or .sl in other platforms). The .esl property file can be created using the following menu Mechatronics → Tools → ESL Property File.
$---------------------------------------------------------MDI_HEADER
[MDI_HEADER]
FILE_TYPE = 'esl'
FILE_VERSION = 2.0
FILE_FORMAT = 'ASCII'
HEADER_SIZE = 9
(COMMENTS)
{comment_string}
'Number of Inputs = 11, Number of Outputs = 4
Communication Interval = 1.0E-02, Visibility = 0'
$------------------------------------------------------------ROUTINE
[ROUTINE]
CONTROL_PACKAGE = 'MATLAB'
LIBRARY = 'case4_abs_gse_02'
ROUTINE = 'case4_abs_gse_02'
$----------------------------------------------------------PARAMETER
[PARAMETER]
desired_slip = 0.2
gain = 100.0
tire_radius = 320.0
adams_parent_communication_interval = 0.01
adams_parent_output_extrapolation_order = 0.0
$------------------------------------------------X_INITIAL_CONDITION
[X_INITIAL_CONDITION]
IC_state_1 = 0.0
IC_state_2 = 0.0
IC_state_3 = 0.0
IC_state_4 = 0.0
$-----------------------------------------------XD_INITIAL_CONDITION
[XD_INITIAL_CONDITION]
IC_discrete_state_1 = 0.0
$-----------------------------------------------------SOLVER_CONTROL
[SOLVER_CONTROL]
esl_error_tolerance_scale = -1.0