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System Parameters Identification Scilab-Xcos

This document describes using Scilab/Xcos to identify the parameters of a second-order system through optimization. It involves acquiring data from the open-loop system, modeling it, defining a cost function that returns the distance between the simulated and actual outputs, and using the fminsearch function to iteratively find the parameter values that minimize the cost function. The optimal parameters found can then be used in control strategies like PID control.

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99 views

System Parameters Identification Scilab-Xcos

This document describes using Scilab/Xcos to identify the parameters of a second-order system through optimization. It involves acquiring data from the open-loop system, modeling it, defining a cost function that returns the distance between the simulated and actual outputs, and using the fminsearch function to iteratively find the parameter values that minimize the cost function. The optimal parameters found can then be used in control strategies like PID control.

Uploaded by

manuellle
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
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System parameters identification

Scilab/Xcos

This tutorial displays a typical use case of optimization of control systems. The identification
of parameters for a controller usually proceeds in the following steps:
1) Data acquisition of the system to regulate in open loop
2) Modeling the dynamic system
3) Identification of the system parameters
4) Set up of a control strategy (simple PID, to more evolve Model Predictive Control)

Example :
Second order system

Running a simulation with a unit step input (with the parameters K, Tau et Tau2 all equals 1):

Introduction of the block “to workspace” to gather the results of the simulation in the Scilab
environment for post-processing:

System parameters identification with Scilab & Xcos


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Those results are then accessible through the variable res, contening 2 fields :
- values
- time

Next step: Write an optimization script running Xcos in batch to identify the 3 parameters of
the second order system (K, Tau and Tau2).

Defining a cost function returning y, the distance between the simulated curve of the system
and the unit step input function.

function y=cost_for_fminsearch(x)
context = ["K="+string(x(1)) "tau="+string(x(2)) "tau2="+string(x(3))];

System parameters identification with Scilab & Xcos


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// On impose un cout infini si on sort de nos bornes de recherche.
if x(1) < 0 | x(2) < 0 | x(3) < 0 then
y=%inf
return
end

try
// Ouverture du diagramme => cree une variable scs_m
importXcosDiagram(pwd()+"/Asserv_2nd_ordre.zcos");
// Changement du contexte
scs_m.props.context = context;
// Simulation
xcos_simulate(scs_m, 4);
catch
disp("Error during xcos Simulation ...");
error("cost function failed.")
y = %inf;
return
end

res_ref = ones(40,1);
y = norm(res.values - res_ref)^2;
e = get("costPolyline");

e.data(:, 2) = res.values;
endfunction

The results are represented dynamically from this script iterating until finding the optimal
solution in the defined interval:

f = gcf();
plot([0, 3.9], [1, 1], "r");
plot([0:0.1:3.9], zeros(40, 1));
e = gce();
e.children(1).tag = "costPolyline";
a = gca();
a.data_bounds = [0, 0 ; 4, 1.8]

The optimization function called to identify the 3 systems parameters is fminsearch :

opt = optimset( "Display" , "iter" );


[x fval] = fminsearch ( cost_for_fminsearch , [0 0 0] , opt );

The calling syntax of this function is:

System parameters identification with Scilab & Xcos


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- Cost function defining the quantity to minimize:
cost_for_fminsearch
- Starting point of the search:
[0 0 0]
- Advanced options with the function optimset:
options.Display = "iter" → the algorithm returns a message at each
iteration

You can develop a Graphical User Interface (GUI) to modify manually the 3 parameters or
trigger the automatic identification. When deployed on the Cloud, this application provides
the interface on the right:

System parameters identification with Scilab & Xcos


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