Simulink is a person learn to engage each robot control must master the tool, which not only can do simulation, but also do semi-physical prototype build, greatly speed development, improve development efficiency.
Foreword
My Matlab version: 64 R2016a
1.Simulink of modules
2. Use common basic controls
2.1 step signal source
Step step signal source as shown in FIG. Step time is the time step, Initial value is an initial value, Final value is the final value, Sample time refers to the time of sampling, the system simulation is made of time, usually selected from the default setting, is provided in most cases does not require special set.
2.2 gain amplifier
Gain Gain amplifier module as shown in FIG red box. You may be selected Element-wise, is used as a scalar; may be selected Matrix, is used as a matrix, respectively sat gain, and a gain-multiplying the left matrix is multiplied by the gain vector.
2.3 arithmetic operation
There are two shapes addition, as shown in FIG. Icon shape may be performed by selecting; List of signs input parameter is the number of additions, plus a few representatives of several input parameters, can be controlled by increasing the number of input parameters and the plus sign is removed.
2.4-integral-derivative operation
2.5 Display Control
Scope control is an oscilloscope, a black frame of the output image as shown below.
