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| − | '''Title of script''': <span style="color:#000000;">'''Simulating a PID controller using Xcos'''</span> | + | |
| | + | '''Title of script''': '''Simulating a PID controller using Xcos''' |
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| | '''Author: Rupak Rokade''' | | '''Author: Rupak Rokade''' |
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| | | align=center style="background-color:#ffffff;border:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | '''Narration''' | | | align=center style="background-color:#ffffff;border:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | '''Narration''' |
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| − | | style="background-color:#ffffff;border-top:1pt solid #000001;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | Show Slide | + | | style="border:1pt solid #000001;padding:0.176cm;" | Show Slide |
| − | | style="background-color:#ffffff;border:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">Welcome to the spoken tutorial on </span><span style="color:#000000;">'''Simulating a PID controller using Xcos.'''</span> | + | | style="border:1pt solid #000001;padding:0.176cm;" | Welcome to the spoken tutorial on '''Simulating a PID controller using Xcos.''' |
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| − | | style="background-color:#ffffff;border-top:1pt solid #000001;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | Show Slide | + | | style="border:1pt solid #000001;padding:0.176cm;" | Show Slide |
| − | | style="background-color:#ffffff;border:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">In this tutorial we will learn </span>h<span style="color:#000000;">ow to </span>i<span style="color:#000000;">mplement a </span><span style="color:#000000;">'''PID controller '''</span><span style="color:#000000;">in </span><span style="color:#000000;">'''Xcos'''</span><span style="color:#000000;">.</span> | + | | style="border:1pt solid #000001;padding:0.176cm;" | In this tutorial we will learn how to implement a '''PID controller '''in '''Xcos'''. |
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| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | Show Slide | + | | style="border:1pt solid #000001;padding:0.176cm;" | Show Slide |
| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">Ensure that </span><span style="color:#000000;">'''Scilab'''</span><span style="color:#000000;"> is installed on your computer.</span> | + | | style="border:1pt solid #000001;padding:0.176cm;" | Ensure that '''Scilab''' is installed on your computer. |
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| − | <span style="color:#000000;">I am recording this tutorial on </span><span style="color:#000000;">This is just a declaration. The tutorial output will not change.</span><span style="color:#000000;">In the tutorial "Xcos introduction", these are not same.</span><span style="color:#000000;">'''Ubuntu 16.04 64-bit O</span>perating System<span style="color:#000000;"> '''</span><span style="color:#000000;">and using </span><span style="color:#000000;">'''Scilab </span>6.0.0'''
| + | I am recording this tutorial on '''Ubuntu 16.04 64-bit Operating System '''and using '''Scilab 6.0.0''' |
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| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | Show Slide | + | | style="border:1pt solid #000001;padding:0.176cm;" | Show Slide |
| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">As a pre-requisite, watch the tutorial </span>'''Xcos Introduction.''' | + | | style="border:1pt solid #000001;padding:0.176cm;" | As a pre-requisite, watch the tutorial '''Xcos Introduction.''' |
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| − | <span style="color:#000000;">This tutorial will make you comfortable with the </span><span style="color:#000000;">'''Xcos'''</span><span style="color:#000000;"> environment.</span>
| + | This tutorial will make you comfortable with the '''Xcos''' environment. |
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| − | <span style="color:#000000;">Also, we will use the </span><span style="color:#000000;">'''firstorder.xcos'''</span><span style="color:#000000;"> file created in that tutorial. </span>
| + | Also, we will use the '''firstorder.xcos''' file created in that tutorial. |
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| − | <span style="color:#000000;">Hence, it is important that you practice the tutorial before continuing </span>so that<span style="color:#000000;"> you have the file with you.</span>
| + | Hence, it is important that you practice the tutorial before continuing so that you have the file with you. |
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| − | <span style="color:#000000;">Some basic knowledge of </span><span style="color:#000000;">'''PID controller'''</span><span style="color:#000000;"> is necessary.</span>
| + | Some basic knowledge of '''PID controller''' is necessary. |
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| − | <div style="color:#000000;">Assuming that you have satisfied the pre-requisites, let us begin with the tutorial.</div>
| + | Assuming that you have satisfied the pre-requisites, let us begin with the tutorial. |
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| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Launch Scilab | + | | style="border:1pt solid #000001;padding:0.176cm;" | Launch Scilab |
| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | First of all, we will launch '''Scilab.''' | + | | style="border:1pt solid #000001;padding:0.176cm;" | First of all, we will launch '''Scilab.''' |
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| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Applications >> Xcos | + | | style="border:1pt solid #000001;padding:0.176cm;" | Applications >> Xcos |
| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Then g<span style="color:#000000;">o to </span>'''A<span style="color:#000000;">pplications '''</span><span style="color:#000000;">and select </span><span style="color:#000000;">'''Xcos'''</span>. | + | | style="border:1pt solid #000001;padding:0.176cm;" | Then go to '''Applications '''and select '''Xcos'''. |
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| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | | + | | style="border:1pt solid #000001;padding:0.176cm;" | |
| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Or in your '''Scilab console''' window, type '''Xcos '''and press '''Enter'''. | + | | style="border:1pt solid #000001;padding:0.176cm;" | Or in your '''Scilab console''' window, type '''Xcos '''and press '''Enter'''. |
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| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">This is just a narration</span>Point to # <div style="margin-left:1.247cm;margin-right:0cm;">'''Palette Browser''' and </div> | + | | style="border:1pt solid #000001;padding:0.176cm;" | Point to |
| − | # <div style="margin-left:1.247cm;margin-right:0cm;">'''An Untitled-Xcos''' window </div> | + | # '''Palette Browser''' and |
| | + | # '''An Untitled-Xcos''' window |
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| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <div style="color:#000000;">By doing this, two windows will open.</div> | + | | style="border:1pt solid #000001;padding:0.176cm;" | By doing this, two windows will open. |
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| − | # <div style="margin-left:1.247cm;margin-right:0cm;"><span style="color:#000000;">'''Palette Browser'''</span><span style="color:#000000;"> and </span></div>
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| − | # <div style="margin-left:1.247cm;margin-right:0cm;"><span style="color:#000000;">'''An Untitled-Xcos'''</span><span style="color:#000000;"> window </span></div>
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| | + | # '''Palette Browser''' and |
| | + | # '''An Untitled-Xcos''' window |
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| − | | style="background-color:#ffffff;border-top:1pt solid #000001;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | '''Untitled-Xcos''' window>> click on '''File''' >> '''Open''' | + | | style="border:1pt solid #000001;padding:0.176cm;" | '''Untitled-Xcos''' window>> click on '''File''' >> '''Open''' |
| − | | style="background-color:#ffffff;border:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">On the </span><span style="color:#000000;">'''Untitled-Xcos'''</span><span style="color:#000000;"> window, click on </span><span style="color:#000000;">'''File'''</span><span style="color:#000000;"> and then click on </span><span style="color:#000000;">'''Open.'''</span> | + | | style="border:1pt solid #000001;padding:0.176cm;" | On the '''Untitled-Xcos''' window, click on '''File''' and then click on '''Open.''' |
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| − | | style="background-color:#ffffff;border-top:1pt solid #000001;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Go to the saved folder>> click on the file >> OK | + | | style="border:1pt solid #000001;padding:0.176cm;" | Go to the saved folder>> click on the file >> OK |
| − | | style="background-color:#ffffff;border:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">Browse to the directory where the file </span><span style="color:#000000;">'''firstorder.xcos'''</span><span style="color:#000000;"> is saved. Choose th</span>at <span style="color:#000000;">file and click on </span><span style="color:#000000;">'''Ok'''</span><span style="color:#000000;">.</span> | + | | style="border:1pt solid #000001;padding:0.176cm;" | Browse to the directory where the file '''firstorder.xcos''' is saved. Choose that file and click on '''Ok'''. |
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| − | | style="background-color:#ffffff;border-top:1pt solid #000001;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Double-click '''transfer function block'''. | + | | style="border:1pt solid #000001;padding:0.176cm;" | Double-click '''transfer function block'''. |
| − | | style="background-color:#ffffff;border:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Double-click on the '''transfer function block'''. | + | | style="border:1pt solid #000001;padding:0.176cm;" | Double-click on the '''transfer function block'''. |
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| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Highlight the '''transfer function''' parameters | + | | style="border:1pt solid #000001;padding:0.176cm;" | Highlight the '''transfer function''' parameters |
| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">Check that you are using the same </span><span style="color:#000000;">'''transfer function'''</span><span style="color:#000000;"> as I am using.</span> | + | | style="border:1pt solid #000001;padding:0.176cm;" | Check that you are using the same '''transfer function''' as I am using. |
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| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | | + | | style="border:1pt solid #000001;padding:0.176cm;" | |
| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | For me, the numerator is 1 and denominator is '''2 asteric s plus 1''' | + | | style="border:1pt solid #000001;padding:0.176cm;" | For me, the numerator is 1 and denominator is '''2 asteric s plus 1''' |
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| − | Which is 2 multiplied by s plus one | + | Which is 2 multiplied by s plus one. |
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| | + | Click on '''Ok'''. |
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| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Highlight the '''step input''' parameters | + | | style="border:1pt solid #000001;padding:0.176cm;" | Highlight the '''step input''' parameters |
| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">Double</span>-<span style="color:#000000;">click on the </span><span style="color:#000000;">'''Step block'''</span><span style="color:#000000;">. </span> | + | | style="border:1pt solid #000001;padding:0.176cm;" | Double-click on the '''Step block'''. |
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| − | <span style="color:#000000;">Check that you are using the same </span><span style="color:#000000;">'''step input'''</span><span style="color:#000000;"> parameters as I am using.</span>
| + | Check that you are using the same '''step input''' parameters as I am using. |
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| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | | + | | style="border:1pt solid #000001;padding:0.176cm;" | |
| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">For me the </span><span style="color:#000000;">'''Step time'''</span><span style="color:#000000;"> is 1, </span><span style="color:#000000;">'''Initial value'''</span><span style="color:#000000;"> is 0 and </span><span style="color:#000000;">'''Final value'''</span><span style="color:#000000;"> is 2.</span> | + | | style="border:1pt solid #000001;padding:0.176cm;" | For me the '''Step time''' is 1, the '''Initial value''' is 0 and the '''Final value''' is 2. |
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| − | Click on OK | + | Click on '''OK''' |
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| − | | style="background-color:#ffffff;border-top:1pt solid #000001;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | '''Simulation''' tab >> choose '''Start''' | + | | style="border:1pt solid #000001;padding:0.176cm;" | '''Simulation''' tab >> choose '''Start''' |
| − | | style="background-color:#ffffff;border:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">Click on </span><span style="color:#000000;">'''Simulation'''</span><span style="color:#000000;"> tab and choose </span><span style="color:#000000;">'''Start'''</span><span style="color:#000000;"> to simulate the file. </span> | + | | style="border:1pt solid #000001;padding:0.176cm;" | Click on '''Simulation''' on the menu bar and choose '''Start''' to simulate the file. |
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| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | | + | | style="border:1pt solid #000001;padding:0.176cm;" | |
| | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | Expect a similar plot which ensures that the file has no mistakes. | | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | Expect a similar plot which ensures that the file has no mistakes. |
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| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Switch to the '''Palette Browser.''' | + | | style="border:1pt solid #000001;padding:0.176cm;" | Switch to the '''Palette Browser.''' |
| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">Switch to the </span><span style="color:#000000;">'''Palette Browser.'''</span> | + | | style="border:1pt solid #000001;padding:0.176cm;" | Switch to the '''Palette Browser.''' |
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| − | | style="background-color:#ffffff;border-top:1pt solid #000001;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Click on '''Continuous time systems '''>> drag-drop '''PID block '''inside '''Xcos''' | + | | style="border:1pt solid #000001;padding:0.176cm;" | Click on '''Continuous time systems '''>> drag-drop '''PID block '''inside '''Xcos''' |
| − | | style="background-color:#ffffff;border:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">Click on </span><span style="color:#000000;">'''Continuous time systems'''</span><span style="color:#000000;"> category. </span> | + | | style="border:1pt solid #000001;padding:0.176cm;" | Click on '''Continuous time systems''' category. |
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| − | <span style="color:#000000;">Drag and drop the </span><span style="color:#000000;">'''PID'''</span><span style="color:#000000;"> block</span>, which is here, <span style="color:#000000;">inside the </span><span style="color:#000000;">'''Xcos'''</span><span style="color:#000000;"> window</span>
| + | Drag and drop the '''PID''' block, which is here, inside the '''Xcos''' window |
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| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Click on '''Signal Routing >> '''drag-drop '''Mux''' block''' '''inside '''Xcos''' | + | | style="border:1pt solid #000001;padding:0.176cm;" | Click on '''Signal Routing >> '''drag-drop '''Mux''' block''' '''inside '''Xcos''' |
| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">Click on the </span><span style="color:#000000;">'''Signal Routing'''</span><span style="color:#000000;"> category. </span> | + | | style="border:1pt solid #000001;padding:0.176cm;" | Click on the '''Signal Routing''' category. |
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| − | <span style="color:#000000;">Drag and drop the </span><span style="color:#000000;">'''Mux'''</span><span style="color:#000000;"> block</span>, which is here,<span style="color:#000000;"> inside the </span><span style="color:#000000;">'''Xcos'''</span><span style="color:#000000;"> window</span>
| + | Drag and drop the '''Mux''' block, which is here, inside the '''Xcos''' window. |
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| − | | style="background-color:#ffffff;border-top:1pt solid #000001;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Click on '''Mathematical Operations >> '''drag-drop '''Summation''' block''' '''inside '''Xcos''' | + | | style="border:1pt solid #000001;padding:0.176cm;" | Click on '''Mathematical Operations >> '''drag-drop '''Summation''' block''' '''inside '''Xcos''' |
| − | | style="background-color:#ffffff;border:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">Click on </span><span style="color:#000000;">'''Mathematical Operations'''</span><span style="color:#000000;"> category. </span> | + | | style="border:1pt solid #000001;padding:0.176cm;" | Click on '''Mathematical Operations''' category. |
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| − | <span style="color:#000000;">Drag and drop the </span><span style="color:#000000;">'''Summation'''</span><span style="color:#000000;"> block</span>, which is here,<span style="color:#000000;"> inside the </span><span style="color:#000000;">'''Xcos'''</span><span style="color:#000000;"> window.</span>
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| | + | Drag and drop the '''Summation''' block, which is here, inside the '''Xcos''' window. |
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| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | | + | | style="border:1pt solid #000001;padding:0.176cm;" | |
| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Note that this block, by default, subtracts the second input from the first input. | + | | style="border:1pt solid #000001;padding:0.176cm;" | Note that this block, by default, subtracts the second input from the first input. |
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| | We will use this default configuration of the '''summation''' block. | | We will use this default configuration of the '''summation''' block. |
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| − | | style="background-color:#ffffff;border-top:1pt solid #000001;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Click on the line joining the '''step input''' block + '''transfer function''' block >> press '''Delete''' | + | | style="border:1pt solid #000001;padding:0.176cm;" | Click on the line joining the '''step input''' block + '''transfer function''' block >> press '''Delete''' |
| − | | style="background-color:#ffffff;border:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">Click on the line joining the </span><span style="color:#000000;">'''step input'''</span><span style="color:#000000;"> block and </span><span style="color:#000000;">'''transfer function'''</span><span style="color:#000000;"> block.</span> | + | | style="border:1pt solid #000001;padding:0.176cm;" | Click on the line joining the '''step input''' block and '''transfer function''' block. |
| | | | |
| | | | |
| − | Then <span style="color:#000000;">press the </span>'''D<span style="color:#000000;">elete'''</span><span style="color:#000000;"> button to delete it.</span> | + | Then press the '''Delete''' button to delete it. |
| | |- | | |- |
| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Drag away | + | | style="border:1pt solid #000001;padding:0.176cm;" | Drag away |
| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">Drag the </span><span style="color:#000000;">'''step input'''</span><span style="color:#000000;"> block away from the </span><span style="color:#000000;">'''transfer function'''</span><span style="color:#000000;"> block</span> | + | | style="border:1pt solid #000001;padding:0.176cm;" | Drag the '''step input''' block away from the '''transfer function''' block. |
| | |- | | |- |
| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Click on the line joining the '''transfer function''' block and the '''cscope''' block >> press '''Delete ''' | + | | style="border:1pt solid #000001;padding:0.176cm;" | Click on the line joining the '''transfer function''' block and the '''cscope''' block >> press '''Delete ''' |
| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">Click on the line joining the </span><span style="color:#000000;">'''transfer function'''</span><span style="color:#000000;"> block and the </span><span style="color:#000000;">'''cscope'''</span><span style="color:#000000;"> block.</span> | + | | style="border:1pt solid #000001;padding:0.176cm;" | Click on the line joining the '''transfer function''' block and the '''cscope''' block. |
| | | | |
| | | | |
| − | Then <span style="color:#000000;">press the </span>'''D<span style="color:#000000;">elete '''</span><span style="color:#000000;">button to delete it.</span> | + | Then press the '''Delete '''button to delete it. |
| | |- | | |- |
| − | | style="background-color:#ffffff;border-top:1pt solid #000001;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Drag away | + | | style="border:1pt solid #000001;padding:0.176cm;" | Drag away |
| − | | style="background-color:#ffffff;border:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">Drag the </span><span style="color:#000000;">'''cscope'''</span><span style="color:#000000;"> and </span><span style="color:#000000;">'''clock input'''</span><span style="color:#000000;"> block away from the </span><span style="color:#000000;">'''transfer function'''</span><span style="color:#000000;"> block</span> | + | | style="border:1pt solid #000001;padding:0.176cm;" | Drag the '''cscope''' and '''clock input''' block away from the '''transfer function''' block |
| | |- | | |- |
| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Do as narrated | + | | style="border:1pt solid #000001;padding:0.176cm;" | Do as narrated |
| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">Place the </span><span style="color:#000000;">'''PID'''</span><span style="color:#000000;"> block before the </span><span style="color:#000000;">'''transfer function'''</span><span style="color:#000000;"> block.</span> | + | | style="border:1pt solid #000001;padding:0.176cm;" | Place the '''PID''' block before the '''transfer function''' block. |
| | |- | | |- |
| − | | style="background-color:#ffffff;border-top:1pt solid #000001;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Do as narrated | + | | style="border:1pt solid #000001;padding:0.176cm;" | Do as narrated |
| − | | style="background-color:#ffffff;border:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">Place the </span><span style="color:#000000;">'''summation'''</span><span style="color:#000000;"> block before the </span><span style="color:#000000;">'''PID'''</span><span style="color:#000000;"> block.</span> | + | | style="border:1pt solid #000001;padding:0.176cm;" | Place the '''summation''' block before the '''PID''' block. |
| | |- | | |- |
| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Do as narrated | + | | style="border:1pt solid #000001;padding:0.176cm;" | Do as narrated |
| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">Place the </span><span style="color:#000000;">'''Mux'''</span><span style="color:#000000;"> block between the </span><span style="color:#000000;">'''transfer function'''</span><span style="color:#000000;"> block and </span><span style="color:#000000;">'''cscope'''</span><span style="color:#000000;"> block.</span> | + | | style="border:1pt solid #000001;padding:0.176cm;" | Place the '''Mux''' block between the '''transfer function''' block and '''cscope''' block. |
| | |- | | |- |
| − | | style="background-color:#ffffff;border-top:1pt solid #000001;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Do as narrated | + | | style="border:1pt solid #000001;padding:0.176cm;" | Do as narrated |
| − | | style="background-color:#ffffff;border:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | Adjust the blocks, if required, so that they all come in a line. | + | | style="border:1pt solid #000001;padding:0.176cm;" | Adjust the blocks, if required, so that they all come in a line. |
| | |- | | |- |
| − | | style="background-color:#ffffff;border-top:1pt solid #000001;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Do as narrated | + | | style="border:1pt solid #000001;padding:0.176cm;" | Do as narrated |
| − | | style="background-color:#ffffff;border:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">Connect the </span><span style="color:#000000;">'''step input'''</span><span style="color:#000000;"> block to the</span><span style="color:#000000;">Added new statement for clarification</span><span style="color:#000000;">It refers to '+' terminal of summation block. We might need to mention this.</span><span style="color:#000000;"> first </span><span style="color:#000000;">'''input port'''</span><span style="color:#000000;"> </span><span style="color:#000000;">of the </span><span style="color:#000000;">'''summation'''</span><span style="color:#000000;"> block.</span> | + | | style="border:1pt solid #000001;padding:0.176cm;" | Connect the '''step input''' block to the first '''input port''' of the '''summation''' block. |
| | | | |
| − | Note that this is the positive '''input port''' of the '''summation''' block | + | Note that this is the positive '''input port''' of the '''summation''' block. |
| | |- | | |- |
| − | | style="background-color:#ffffff;border-top:1pt solid #000001;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Do as narrated | + | | style="border:1pt solid #000001;padding:0.176cm;" | Do as narrated |
| − | | style="background-color:#ffffff;border:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">Connect the </span><span style="color:#000000;">'''output port'''</span><span style="color:#000000;"> of </span><span style="color:#000000;">'''summation'''</span><span style="color:#000000;"> block to the </span><span style="color:#000000;">'''input port'''</span><span style="color:#000000;"> of </span><span style="color:#000000;">'''PID'''</span><span style="color:#000000;"> block</span> | + | | style="border:1pt solid #000001;padding:0.176cm;" | Connect the '''output port''' of '''summation''' block to the '''input port''' of '''PID''' block. |
| | |- | | |- |
| − | | style="background-color:#ffffff;border-top:1pt solid #000001;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Do as narrated | + | | style="border:1pt solid #000001;padding:0.176cm;" | Do as narrated |
| − | | style="background-color:#ffffff;border:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">Connect the </span><span style="color:#000000;">'''output port'''</span><span style="color:#000000;"> of </span><span style="color:#000000;">'''PID'''</span><span style="color:#000000;"> block to the </span><span style="color:#000000;">'''input port'''</span><span style="color:#000000;"> of </span><span style="color:#000000;">'''transfer function'''</span><span style="color:#000000;"> block</span> | + | | style="border:1pt solid #000001;padding:0.176cm;" | Connect the '''output port''' of '''PID''' block to the '''input port''' of '''transfer function''' block. |
| | |- | | |- |
| − | | style="background-color:#ffffff;border-top:1pt solid #000001;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Do as narrated | + | | style="border:1pt solid #000001;padding:0.176cm;" | Do as narrated |
| − | | style="background-color:#ffffff;border:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">Connect the </span><span style="color:#000000;">'''output port'''</span><span style="color:#000000;"> of </span><span style="color:#000000;">'''transfer function'''</span><span style="color:#000000;"> block to the lower </span><span style="color:#000000;">'''input port'''</span><span style="color:#000000;"> of </span><span style="color:#000000;">'''Mux'''</span><span style="color:#000000;"> block</span> | + | | style="border:1pt solid #000001;padding:0.176cm;" | Connect the '''output port''' of '''transfer function''' block to the lower '''input port''' of '''Mux''' block. |
| | |- | | |- |
| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Do as narrated | + | | style="border:1pt solid #000001;padding:0.176cm;" | Do as narrated |
| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">Connect the </span><span style="color:#000000;">'''output port'''</span><span style="color:#000000;"> of </span><span style="color:#000000;">'''Mux'''</span><span style="color:#000000;"> block to the</span><span style="color:#000000;">''' input port'''</span><span style="color:#000000;"> of the </span><span style="color:#000000;">'''cscope'''</span><span style="color:#000000;"> block</span> | + | | style="border:1pt solid #000001;padding:0.176cm;" | Connect the '''output port''' of '''Mux''' block to the''' input port''' of the '''cscope''' block. |
| | |- | | |- |
| − | | style="background-color:#ffffff;border-top:1pt solid #000001;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Do as narrated | + | | style="border:1pt solid #000001;padding:0.176cm;" | Do as narrated |
| − | | style="background-color:#ffffff;border:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Locate the line <span style="color:#000000;">connecting the </span><span style="color:#000000;">'''step input'''</span><span style="color:#000000;"> block and the </span><span style="color:#000000;">'''summation'''</span><span style="color:#000000;"> block</span> | + | | style="border:1pt solid #000001;padding:0.176cm;" | Locate the line connecting the '''step input''' block and the '''summation''' block. |
| | | | |
| | | | |
| − | Connect the '''input'''<span style="color:#000000;">Corrected</span><span style="color:#000000;">It should be input port of Mux.</span>''' port '''of '''Mux''' to that line. | + | Connect the '''input''' port of '''Mux''' to that line. |
| | |- | | |- |
| − | | style="background-color:#ffffff;border-top:1pt solid #000001;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | | + | | style="border:1pt solid #000001;padding:0.176cm;" | |
| − | | style="background-color:#ffffff;border:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | Use the left mouse click to create line bends while making the connection. | + | | style="border:1pt solid #000001;padding:0.176cm;" | Use the left mouse click to create line bends while making the connection. |
| | |- | | |- |
| − | | style="background-color:#ffffff;border-top:1pt solid #000001;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Do as narrated | + | | style="border:1pt solid #000001;padding:0.176cm;" | Do as narrated |
| − | | style="background-color:#ffffff;border:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Locate <span style="color:#000000;">the line joining the </span><span style="color:#000000;">'''transfer function'''</span><span style="color:#000000;"> block and the </span><span style="color:#000000;">'''Mux'''</span><span style="color:#000000;"> block.</span> | + | | style="border:1pt solid #000001;padding:0.176cm;" | Locate the line joining the '''transfer function''' block and the '''Mux''' block. |
| | | | |
| | | | |
| − | Connect the second '''input port''' of '''summation''' block to that line. | + | Connect the second '''input port''' of the '''summation''' block to that line. |
| | | | |
| − | Use line bends wherever necessary | + | Use line bends wherever necessary. |
| | |- | | |- |
| − | | style="background-color:#ffffff;border-top:1pt solid #000001;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Do as narrated | + | | style="border:1pt solid #000001;padding:0.176cm;" | Do as narrated |
| − | | style="background-color:#ffffff;border:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Double-click on the '''PID''' block to open its parameter setting dialog box. | + | | style="border:1pt solid #000001;padding:0.176cm;" | Double-click on the '''PID''' block to open its parameter setting dialog box. |
| | |- | | |- |
| − | | style="background-color:#ffffff;border-top:1pt solid #000001;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Point to the respective gains. | + | | style="border:1pt solid #000001;padding:0.176cm;" | Point to the respective gains. |
| − | | style="background-color:#ffffff;border:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">Here you can set the </span><span style="color:#000000;">'''Proportional, Integral '''</span><span style="color:#000000;">and</span><span style="color:#000000;">''' Derivative'''</span><span style="color:#000000;"> gains.</span> | + | | style="border:1pt solid #000001;padding:0.176cm;" | Here you can set the '''Proportional, Integral '''and''' Derivative''' gains. |
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| − | <span style="color:#000000;">Please note that the </span><span style="color:#000000;">'''Integral gain'''</span><span style="color:#000000;"> should be considered as 1 by </span><span style="color:#000000;">'''tau'''</span><span style="color:#000000;"> I, where </span><span style="color:#000000;">'''tau'''</span><span style="color:#000000;"> I is the </span><span style="color:#000000;">'''integral time'''</span><span style="color:#000000;">.</span>
| + | Please note that the '''Integral gain''' should be considered as 1 by '''tau I''', where '''tau I''' is the '''integral time'''. |
| | |- | | |- |
| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | | + | | style="border:1pt solid #000001;padding:0.176cm;" | |
| | | | |
| | | | |
| | | | |
| | Click on '''Cancel''' | | Click on '''Cancel''' |
| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | We will use the default settings. | + | | style="border:1pt solid #000001;padding:0.176cm;" | We will use the default settings. |
| | | | |
| | | | |
| − | <span style="color:#000000;">Click on </span><span style="color:#000000;">'''Cancel'''</span><span style="color:#000000;"> to use the default settings.</span>
| + | Click on '''Cancel''' to use the default settings. |
| | |- | | |- |
| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | | + | | style="border:1pt solid #000001;padding:0.176cm;" | |
| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | We are now ready to run the simulation. | + | | style="border:1pt solid #000001;padding:0.176cm;" | We are now ready to run the simulation. |
| | |- | | |- |
| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Highlight '''step input '''block | + | | style="border:1pt solid #000001;padding:0.176cm;" | Highlight '''step input '''block |
| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Notice that we are using the '''step input''' block as a '''setpoint''' variable. | + | | style="border:1pt solid #000001;padding:0.176cm;" | Notice that we are using the '''step input''' block as a '''setpoint''' variable. |
| | |- | | |- |
| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Highlight '''PID controller''' | + | | style="border:1pt solid #000001;padding:0.176cm;" | Highlight '''PID controller''' |
| − | | style="background-color:#ffffff;border-top:none;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">The </span><span style="color:#000000;">'''PID controller '''</span><span style="color:#000000;">will</span> generate an input to the '''Transfer Function''' block<span style="color:#000000;">.</span> | + | | style="border:1pt solid #000001;padding:0.176cm;" | The '''PID controller '''will generate an input to the '''Transfer Function''' block. |
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| | | | |
| − | It will be<span style="color:#000000;"> such that the output of the </span><span style="color:#000000;">'''transfer function'''</span><span style="color:#000000;"> block matches the </span><span style="color:#000000;">'''setpoint.'''</span> | + | It will be such that the output of the '''transfer function''' block matches the '''setpoint.''' |
| | |- | | |- |
| − | | style="background-color:#ffffff;border-top:1pt solid #000001;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Click on '''Start simulation''' button | + | | style="border:1pt solid #000001;padding:0.176cm;" | Click on '''Start simulation''' button |
| − | | style="background-color:#ffffff;border:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Click on the '''Start simulation''' button available on the menu bar. | + | | style="border:1pt solid #000001;padding:0.176cm;" | Click on the '''Start simulation''' button available on the menu bar. |
| | |- | | |- |
| − | | style="background-color:#ffffff;border-top:1pt solid #000001;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Plot window | + | | style="border:1pt solid #000001;padding:0.176cm;" | Plot window |
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| | | | |
| Line 233: |
Line 233: |
| | | | |
| | Highlight transfer function | | Highlight transfer function |
| − | | style="background-color:#ffffff;border:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <div style="color:#000000;">Expect a graphic window to open.</div> | + | | style="border:1pt solid #000001;padding:0.176cm;" | Expect a graphic window to open. |
| | | | |
| − | <div style="color:#000000;">It will have two variables plotted in a single plot.</div>
| + | It will have two variables plotted in a single plot. |
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| | | | |
| − | <span style="color:#000000;">The step plot is the </span><span style="color:#000000;">'''setpoint'''</span><span style="color:#000000;"> which has a final value of 2.</span>
| + | The step plot is the '''setpoint''' which has a final value of 2. |
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| − | <span style="color:#000000;">The curved plot which i</span>s green in color, <span style="color:#000000;">is the output of the </span><span style="color:#000000;">'''transfer function'''</span><span style="color:#000000;"> which tries to meet the </span><span style="color:#000000;">'''setpoint'''</span><span style="color:#000000;"> value of 2.</span>
| + | The curved plot which is green in color, is the output of the '''transfer function''' which tries to meet the '''setpoint''' value of 2. |
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| − | | style="background-color:#ffffff;border-top:1pt solid #000001;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | | + | | style="border:1pt solid #000001;padding:0.176cm;" | |
| − | | style="background-color:#ffffff;border:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">You can now change the </span><span style="color:#000000;">'''PID'''</span><span style="color:#000000;"> settings and learn how they affect the output.</span> | + | | style="border:1pt solid #000001;padding:0.176cm;" | You can now change the '''PID''' settings and learn how they affect the output. |
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| | Pause the video here and solve the given exercises. | | Pause the video here and solve the given exercises. |
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| − | | style="background-color:#ffffff;border-top:1pt solid #000001;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Exercise slide | + | | style="border:1pt solid #000001;padding:0.176cm;" | Exercise slide |
| − | | style="background-color:#ffffff;border:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Implement a '''Proportional Controller''' only | + | | style="border:1pt solid #000001;padding:0.176cm;" | Implement a '''Proportional Controller''' only |
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| | That is, only '''P''' and not '''PID''' | | That is, only '''P''' and not '''PID''' |
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| | Change the proportional gain such that the setpoint matches the output but without overshoots. | | Change the proportional gain such that the setpoint matches the output but without overshoots. |
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| − | | style="background-color:#ffffff;border-top:1pt solid #000001;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Exercise slide | + | | style="border:1pt solid #000001;padding:0.176cm;" | Exercise slide |
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| − | | style="background-color:#ffffff;border:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Include the output of the '''summation''' block in the plot. | + | | style="border:1pt solid #000001;padding:0.176cm;" | Include the output of the '''summation''' block in the plot. |
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| | You may use '''CMSCOPE''' to keep it separate. | | You may use '''CMSCOPE''' to keep it separate. |
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| | Compare it visually with the output of the '''PID''' block | | Compare it visually with the output of the '''PID''' block |
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| − | | style="background-color:#ffffff;border-top:1pt solid #000001;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | | + | | style="border:1pt solid #000001;padding:0.176cm;" | |
| − | | style="background-color:#ffffff;border:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | This brings us to the end of this tutorial. | + | | style="border:1pt solid #000001;padding:0.176cm;" | This brings us to the end of this tutorial. |
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| | Let us summarize. | | Let us summarize. |
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| − | | style="background-color:#ffffff;border-top:1pt solid #000001;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Summary slide | + | | style="border:1pt solid #000001;padding:0.176cm;" | Summary slide |
| − | | style="background-color:#ffffff;border:1pt solid #000001;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">In this tutorial we learnt</span>-# <div style="margin-left:1.27cm;margin-right:0cm;">To m<span style="color:#000000;">odify the </span><span style="color:#000000;">'''firstorder.xcos'''</span><span style="color:#000000;"> file to implement a </span><span style="color:#000000;">'''PID'''</span><span style="color:#000000;"> controller</span></div> | + | | style="border:1pt solid #000001;padding:0.176cm;" | In this tutorial we learnt |
| − | # <div style="color:#000000;margin-left:1.27cm;margin-right:0cm;">Configure each block as per the simulation requirements</div> | + | # To modify the '''firstorder.xcos''' file to implement a '''PID''' controller |
| − | # <div style="color:#000000;margin-left:1.27cm;margin-right:0cm;">Setup the simulation parameters</div> | + | # Configure each block as per the simulation requirements |
| | + | # Setup the simulation parameters |
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| | (About Spoken Tutorial Project) | | (About Spoken Tutorial Project) |
| − | | style="border:1pt solid #000001;padding:0.176cm;" | <div style="color:#252525;">The video at the following link, summarizes the Spoken Tutorial project.</div> | + | | style="border:1pt solid #000001;padding:0.176cm;" | The video at the following link, summarizes the Spoken Tutorial project. |
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| − | <div style="color:#252525;">Please download and watch it.</div>
| + | Please download and watch it. |
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| | | style="border:1pt solid #000001;padding:0.176cm;" | Show Slide | | | style="border:1pt solid #000001;padding:0.176cm;" | Show Slide |
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| | (About Spoken Tutorial Forum) | | (About Spoken Tutorial Forum) |
| − | | style="border:1pt solid #000001;padding:0.176cm;" | <div style="color:#252525;">The Spoken Tutorial Project Team conducts workshops and gives certificates.</div> | + | | style="border:1pt solid #000001;padding:0.176cm;" | The Spoken Tutorial Project Team conducts workshops and gives certificates. |
| | | | |
| − | <div style="color:#252525;">For more details, please write to us.</div>
| + | For more details, please write to us. |
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| | | style="border:1pt solid #000001;padding:0.176cm;" | Show Slide 1 | | | style="border:1pt solid #000001;padding:0.176cm;" | Show Slide 1 |
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| | FORUMS | | FORUMS |
| − | | style="border:1pt solid #000001;padding:0.176cm;" | * <div style="color:#252525;margin-left:1.376cm;margin-right:0cm;">Do you have questions in THIS Spoken Tutorial?</div> | + | | style="border:1pt solid #000001;padding:0.176cm;" | |
| − | * <div style="color:#252525;margin-left:1.376cm;margin-right:0cm;">Please visit http://forums.spoken-tutorial.org</div> | + | * Do you have questions in THIS Spoken Tutorial? |
| − | * <div style="color:#252525;margin-left:1.376cm;margin-right:0cm;">Choose the minute and second where you have the question</div> | + | * Please visit http://forums.spoken-tutorial.org |
| − | * <div style="color:#252525;margin-left:1.376cm;margin-right:0cm;">Explain your question briefly</div> | + | * Choose the minute and second where you have the question |
| − | * <div style="color:#252525;margin-left:1.376cm;margin-right:0cm;">Someone from our team will answer them</div> | + | * Explain your question briefly |
| | + | * Someone from our team will answer them |
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| − | | style="background-color:#ffffff;border-top:1pt solid #000001;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | Show Slide 2 | + | | style="border:1pt solid #000001;padding:0.176cm;" | Show Slide 2 |
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| | FORUMS | | FORUMS |
| − | | style="border:1pt solid #000001;padding:0.176cm;" | * <div style="color:#252525;margin-left:1.376cm;margin-right:0cm;">The Spoken Tutorial forum is for specific questions on this tutorial</div> | + | | style="border:1pt solid #000001;padding:0.176cm;" | |
| − | * <div style="color:#252525;margin-left:1.376cm;margin-right:0cm;">Please do not post unrelated and general questions on them</div> | + | * The Spoken Tutorial forum is for specific questions on this tutorial |
| − | * <div style="color:#252525;margin-left:1.376cm;margin-right:0cm;">This will help reduce the clutter</div> | + | * Please do not post unrelated and general questions on them |
| − | * <div style="color:#252525;margin-left:1.376cm;margin-right:0cm;">With less clutter, we can use these discussions as instructional material</div> | + | * This will help reduce the clutter |
| | + | * With less clutter, we can use these discussions as instructional material |
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| − | | style="background-color:#ffffff;border-top:1pt solid #000001;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | Show slide | + | | style="border:1pt solid #000001;padding:0.176cm;" | Show slide |
| − | | style="border:1pt solid #000001;padding:0.176cm;color:#252525;" | Spoken Tutorial Project is funded by NMEICT, MHRD, Government of India.. More information on this mission is available at the link shown. | + | | style="border:1pt solid #000001;padding:0.176cm;" | Spoken Tutorial Project is funded by NMEICT, MHRD, Government of India.. More information on this mission is available at the link shown. |
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| − | | style="background-color:#ffffff;border-top:1pt solid #000001;border-bottom:1pt solid #000001;border-left:1pt solid #000001;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | | + | | style="border:1pt solid #000001;padding:0.176cm;" | |
| − | | style="border:1pt solid #000001;padding:0.176cm;" | <div style="color:#252525;">This is Rupak Rokade signing off.</div> | + | | style="border:1pt solid #000001;padding:0.176cm;" | This is Rupak Rokade signing off. |
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| − | <div style="color:#252525;">Thanks for joining.</div>
| + | Thanks for joining. |
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| | |} | | |} |
