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7 Models with Multiple Sample Rates
7-2
Introduction
Every Simulink block can be classified according to its sample time as constant,
continuous-time, discrete-time, inherited, or variable. Examples of each type
include:
• Constant — Constant block, Width
• Continuous-time — Integrator, Derivative, Transfer Function
• Discrete-time — Unit Delay, Digital Filter
• Inherited — Gain, Sum, Lookup Table
• Variable — These are S-functions blocks that set their time of next hit based
upon current information. These blocks work only with variable step solvers.
Blocks in the inherited category assume the sample time of the blocks that are
driving them. Every Simulink block therefore has a sample time, whether it is
explicit, as in the case of continuous or discrete blocks (continuous blocks have
a sample time of zero), or implicit, as in the case of inherited blocks.
Simulink allows you to create models without any restrictions on the
connections between blocks with disparate sample times. It is therefore
possible to have blocks with differing sample times in a model (a mixed-rate
system). A possible advantage of employing multiple sample times is improved
efficiency when executing in a multitasking real-time environment.
Simulink provides considerable flexibility in building these mixed-rate
systems. However, the same flexibility also allows you to construct models for
which the code generator cannot generate correct real-time code for execution
in a multitasking environment. But to make these models operate correctly in
real-time (i.e., give the right answers), you must modify your model. In general,
the modifications involve placing Unit Delay and Zero Order Hold blocks
between blocks that have unequal sample rates. The sections that follow
discuss the issues you must address to use a mixed-rate model successfully in
a multitasking environment.
- Real-Time Workshop 1
- How to Contact The MathWorks: 2
- Targeting Custom Hardware 12
- Real-Time Workshop Libraries 13
- Contents 14
- Real-Time Workshop Ada Coder 15
- Glossary 16
- Foreword 17
- Foreword 18
- What Is MATLAB? 19
- What Is Simulink? 20
- What Is Stateflow? 21
- How to Use This Guide 23
- Boldface with an 23
- File menu 23
- Installation 24
- System,gototheEnvironment 25
- Where to Go from Here 27
- Introduction to the 29
- The Real-Time Workshop 31
- Types of Output 32
- The Rapid Prototyping Process 34
- Using External Mode 37
- Modeling Systems in Simulink 38
- Algorithm Design and Analysis 39
- Target Language Compiler 42
- Make Utility 42
- S-Functions 43
- The Build Procedure 43
- Basic Features of example.rtw 45
- Basic Features of example.c 47
- Bundled Target Systems 48
- Getting Started with the 51
- 2. Customizing Generated Code 54
- 3. Optimizing Generated Code 55
- 4. Validating Generated Code 55
- 8. Code Tracing 56
- 9. Automatic Build Procedure 56
- 10. Parameter Tuning 56
- Simulation Parameters dialog 58
- The Build Process 59
- Specifying Model Parameters 60
- The Simulink Model 62
- Setting Program Parameters 64
- Customizing the Build Process 66
- Inline parameters check 66
- Data Logging 67
- The UNIX Template Makefile 68
- PC Template Makefiles 69
- Generic Real-Time Modules 70
- Continuous Blocks 71
- Discrete Blocks 71
- Nonlinear Blocks 71
- Analyzing Data with MATLAB 76
- Tracing Generated Code Back 76
- Targeting dSPACE 78
- Motherboard “host” 79
- Embedded cards 79
- (target system) 79
- PC chassisMonitor/keyboard 79
- Real-Time Interface (RTI) 80
- Code Generation and the 83
- Build Process 83
- Automatic Program Building 85
- Build button on the 85
- Inline Parameters 92
- Retaining the model.rtw File 93
- Template Makefile 93
- Make Command 93
- Options Button 97
- System Target File Browser 98
- S3 in this block 99
- S3 in the generated 99
- Tunable Parameters 100
- Signal Properties 101
- .tlc) files. These files are 104
- Template Makefiles 105
- Make Utilities 108
- Simulation 109
- Parameters 109
- Generic Real-Time Templates 114
- File and Function Splitting 120
- Code Generation Options 122
- Function Management pull-down 122
- Function Split Threshold 122
- External Mode 125
- Introduction 126
- 4 External Mode 130
- Signals & Triggering 131
- -tf switch overrides the 133
- A and B.WithA=2 and B=3,the 133
- External Mode GUI 134
- External Mode Control Panel 134
- Target Interface 135
- Data Archiving 139
- Update Diagram 142
- Using the TCP Implementation 146
- External Target 146
- Interface 146
- External 148
- MEX-File Optional Arguments 148
- Options on the Real-Time 149
- Possible Error Conditions 150
- Data Logging and Signal 153
- Monitoring 153
- MAT-File Data Logging 154
- Make command 154
- To File Block MAT-Files 154
- C API for Signal Monitoring 156
- Program Architecture 163
- Model Execution 166
- SimStruct,but 187
- The main Function 189
- Initialization 189
- Program Termination 190
- Components 190
- The SimStruct Data Structure 194
- — MdlInitializeSampleTimes 195
- Inlining S-Functions 196
- Embedded Program Framework 198
- Models with Multiple 201
- Sample Rates 201
- Solver options pull-down 203
- Executing Multitasking Models 205
- Lowest Priority 206
- Highest Priority 206
- Singletasking 208
- Executing Models in Real-Time 209
- Multitasking Operation 210
- Singletasking Operation 210
- Sample Rate Transitions 211
- T=1sec T=2sec 212
- T=2s T=1s 212
- T=1sT=1s T=1s 212
- T=2sT=1s 212
- Unit Delay 218
- Targeting Tornado for 219
- Real-Time Applications 219
- VxWorks Support library 221
- Help button on the 222
- WindSh (the 223
- StethoScope 226
- Host Processes 227
- VxWorks Tasks 227
- Implementation Overview 229
- VxWorks Configuration 231
- Downloading Configuration 232
- Simulation menu: 233
- Step Size 233
- Initiating the Build 236
- Running the Program 237
- Targeting DOS for 241
- Hardware Requirements 246
- Software Requirements 246
- Device Drivers 246
- Simulink Host 247
- Modifying Program Timing 248
- Device Driver Blocks 249
- '0x300') 252
- [-10 10] volts. Refer 252
- [lo hi],for 254
- Including Device Driver Code 255
- Building the Program 256
- Targeting Custom 259
- Hardware 259
- Run-Time Interface 262
- Implementing Device Drivers 265
- Required Functions 267
- S_FUNCTION_NAME Definition 269
- Level 2 S-Function Definition 269
- Defining the SimStruct 269
- Initializing Sample Times 273
- Initializing the I/O Device 274
- Accessing the Hardware 275
- ADC Outputs 275
- DAC Outputs 275
- The Termination Function 276
- Libraries 279
- Custom Code Library 282
- MdlStart 284
- Function Custom Code 284
- Interrupt Handling 287
- Rate Transition Block Example 302
- Library for Your System 303
- Configuring Real-Time 305
- Workshop for Your 305
- Application 305
- Real-Time Code Format 314
- Real-Time malloc Code Format 316
- Embedded-C Code Format 318
- Local block outputs 319
- Unsupported Blocks 320
- System Target File 320
- S-Function Code Format 322
- Restrictions 324
- General Modeling Techniques 325
- Stateflow Optimizations 326
- Simulation Parameters 326
- Diagnostic Page 327
- Real-Time Workshop Page 327
- Compiler Options 329
- Rapid Simulation Target 331
- Browse button and 334
- System Target 334
- File Browser 334
- Build buttonontheReal-Time 336
- Simulation Performance 343
- Carlo simulations 344
- Ada Coder 345
- Getting Started 350
- Generating Ada Code 352
- Generated Files 353
- Parameters field blank) 354
- Generating the Ada Code 355
- Signal_Name is declared in 360
- Code Validation 362
- Supported Blocks 365
- Directory Tree 369
- Directory Purpose 374
- B Glossary 378
- See Rsim 13-2 384
- SimStruct data structure 385
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