PMP Simulink library

Simulink contains several libraries with generic blocks which can be used to design processing blocks. However, to interact with functionality implemented in PMP, PMP-specific blocks must be used. These PMP-specific blocks are grouped in a Simulink library named “Prodrive Motion Platform”. This section specifies the functionality of this library and describes how different Versioning are supported in a single library.

A description of a specific block can be found by clicking the corresponding link below.

• Controller SamplePeriod

• Event Output

• Read Timer

• Start Timer

Common components

The common components library contains standard (control related) blocks. These blocks can trigger certain PMP functionality due to name based matching of inputs, signals or events. If a different implementation is desired it is possible to create an alternative version of these blocks, taking into consideration that the names and data types of the PMP inputs, signals and events that trigger the PMP functionality are maintained.

• EnableSwitch

• SettlingStateMachine

• TimeDelay

• TrackingErrorCalculation

Filters

Filters in PMP are configured with continuous-time parameters, while the real-time implementation uses discrete-time parameters. When updating a continuous-time parameter, PMP discretizes the filter asynchronously. The result of the discretization is then used in the real-time implementation. Using this approach, the discretization has only a minimal impact on the sample load.

The following Simulink library components allow asynchronous discretization of filter parameters:

• GenericFilter

• Integrator

• PIDLowPass

See also

Filter.

Explanation of the general concept of filters and their purpose in the motion software.