An Integrated, Modular Simulation System for Education ... - Cal Poly

Simulink block set, however, when maximum performance is required compiled c codeusually provides increased speed.Simulink Time blockTwo methods are available to allow real time simulation through Simulink. RealTime Workshop described earlier, and including a S-function timing block in Simulink totime each simulation step and release the program when the end of the time frame isreached.Using an interrupt driven block of S-function code is being investigated toprovide real time capability in the Simulink environment using a PC s internal timingchip. The amount of delay required is significant as the 6 DOF model finishes 10 secondsof integration using a 10 millisecond integration step in less that a second.Hardware Setup and TestThe hardware S-functions created to work with RTW were compiled to dll s todetermine if the functions would work in the regular Simulink environment. The driverfunctions for the stick and the instruments function normally in the standard Simulinkbatch mode. A delay function was required as a batch simulation finish time of 100,000seconds finished in seconds. Since the drivers function properly in the standard Simulinkenvironment, Simulink can be used to perform force setup without a timing block on thestick and pedals. To slow down the simulation, an extremely small time step for theintegration or including a delay loop to slow down the processing to close to real time isrequired. Since the force stick hardware drivers do not require a specific time step, setupof the stick forces is done without having to generate executable code which takes severalminutes each time.38