ME5306-5536 Racing Team

Management and Vehicle Testing

Signal Integration and

Filtering with Simulink
 Integration

• Consider the signal y and the independent variable t (e.g. time)

• Integrate y with respect to the independent variable t

dx
(t )  y (t ) 
dt
t
x(t )  x(t 0 )    y ( )  d
t0

• Calculate x(t) for the whole range of t

• e.g. Calculate yaw angle from yaw rate, distance from speed etc.
 Integration with Simulink

• In the command
window type:
simulink
Simulink button
• or click the
simulink button
 Integration with Simulink

• Start new Simulink

model (.mdl)

New model
 Integration with Simulink

• Start new Simulink

model (.mdl)

New model
 Integration with Simulink

• drag and drop the “From

Workspace” block from
the simulink library
(Simulink/Sources) to the
Simulink model

• Same for: Simulink/Sinks,

“To Workspace” block

• Same for:
Simulink/Continuous,
“Integrator” block
 Integration with Simulink

• Connect the blocks as

shown

• Add a “Scope”
(Simulink/Sinks) as
necessary
 Integration with Simulink

• Create t, y variables

• run “tutorial_data.m”
 Integration with Simulink

• Double click on “From

Workspace” block
 Integration with Simulink

• Provide independent
variable and signal to be
integrated [t y]

• Need column vectors

• Use transpose (‘) if

necessary
 Integration with Simulink

• Double click on
“Integrator” block
 Integration with Simulink

• Provide initial condition for

the integrated variable
 Integration with Simulink

• Double click on “To

Workspace” block
 Integration with Simulink

• Provide name for the

integrated variable

• Make sure the variable is

in array format
 Integration with Simulink

• Simulink simulation time is

a separate variable

• Adjust simulink time to be

the same as the data time

• Go to Simulation,
Configuration parameters
Integration with Simulink
 Integration with Simulink

• Run Simulink simulation

 Filtering

• Laplace Transform of a function of time f(t)


L[ f (t )]  F ( s)   f (t )e  st dt
0

• Transfer function of an input-output system

u(t) y(t) L( y (t )) Y ( s )
H(s) H (s)  
L(u (t )) U ( s)
 Filtering

• In a linear time-invariant system, the input frequency does not

change

• Only the amplitude and the phase angle of the sinusoid is

changed by the system

Y
• Gain G ( ) 
U

• Phase angle  ( )  arg(Y )  arg(U )

 Filtering

• e.g. An integrator has a gain dependent on the input frequency

and a constant phase angle of -90deg.
 Filtering

• Gain is typically measured in decibels (dB)

GdB ( )  20 log10 G( )

 Filtering

• Filtering in signal processing is applied to suppress some aspects

of the signal.

• Remove some frequencies and not others in order to suppress

interfering signals and reduce background noise.

• Low-pass, High-pass, Band Pass

• Butterworth, Chebyshev, Bessel etc.

 Filtering
• Bode plot of 1st order Butterworth filter (en.wikipedia.org)
 Filtering with Simulink
• Open new Simulink model

• drag and drop the “From

Workspace” block from the
simulink library
(Simulink/Sources) to the
Simulink model

• Same for: Simulink/Sinks, “To

Workspace” block

• Same for: Signal Processing

Blockset/Filter Designs, “Analog
Filter Design” block
 Filtering with Simulink

• Connect the blocks as

shown

• Add a “Scope”
(Simulink/Sinks) as
necessary
 Filtering with Simulink

• Create t, y variables

• run “tutorial_data.m”
 Filtering with Simulink

• Double click on “From

Workspace” block
 Filtering with Simulink

• Provide independent
variable and signal to be
filtered [t y_combined]

• Need column vectors

• Use transpose (‘) if

necessary
 Filtering with Simulink

• Double click on “Analog

Filter Design” block
 Filtering with Simulink

• Adjust filter settings

 Filtering with Simulink

• Double click on “To

Workspace” block
 Filtering with Simulink

• Provide name for the

filtered variable

• Make sure the variable is

in array format
 Filtering with Simulink

• Simulink simulation time is

a separate variable

• Adjust simulink time to be

the same as the data time

• Go to Simulation,
Configuration parameters
Filtering with Simulink
 Filtering with Simulink

• Run Simulink simulation