SimMechanics - MathWorks · 27 Conclusions -Physical Modeling - Simulink and Simscape -Simscape –...

1 © 2013 MathWorks, Inc.

SimMechanics Model and simulate multibody mechanical systems

Javier Gazzarri

Tom Priestley

Marc Semma

General Electric

2

𝑚𝑥 + 𝐵𝑥 + 𝑘𝑥 = F

3

Simulink

– Signal-based modeling

– Causal or input / output

R1

C1 v1

i +

_

R1

C1

i2

+

_ i3

i1 R2

C2 v2

Simscape

– Network-based modeling

– Acausal

4

Agenda

- Physical Modeling – A different way to think your design

- Advanced 3D mechanical modeling

- Pendulum

- Aileron

- Import from CAD

- Code generation and deployment

- IP protection

- Precompiled execution

5

Simscape

6

Demo

7

SimMechanics

8

Multibody simulation

of 3D mechanical systems

Bodies, joints, transforms

No equations

System-level analysis

Control development in Simulink

Sim

Mech

an

ics

Sim

Dri

velin

e

Sim

Hyd

rau

lics

Sim

Ele

ctr

on

ics

Sim

Po

werS

yste

ms

Simscape

MATLAB, Simulink

9

Body Definition – MATLAB

– CAD import

Mass and inertia tensor

calculation

3D animation of simulation

results

Connect to

– Control

– Other physical domains

10

System structure

– Parts (mass, inertia)

– Coordinate systems

– Joints and constraints

Parameterize in

MATLAB

Save for reuse

11

Body Definition

MATLAB

Pre-defined

Mass, inertia properties

calculated automatically

Create complex shapes

connecting solids

12

Demo

13

14

CAD Import

15

SimMechanics Link

CAD SimMechanics

– Mate definitions joints

Supported off-the-shelf

– SolidWorks

– ProEngineer

– Inventor

Public API for others

16

Demo

17

Aileron System

- Mechanism

- Actuation - Ideal vs. practical

- Control gain optimization

- C-code generation - Real Time simulation

- Compiled execution

- IP protection

18

Demo

19

20

Demo

21

22

23

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Deploying Models as C Code

C Code

Hardware-in-the-Loop

Simulators

Standalone

Executable Other

Simulation

Environments

25

Demo

26

Sharing Models

Model Developer

Simscape + SimMechanics

Model Users

Simscape

27

Conclusions

- Physical Modeling

- Simulink and Simscape

- Simscape – A different way to think your system

- Physical network acausal approach

- SimMechanics – Advanced 3D mechanical

modeling

- Bodies, joints, actuation, sensing

- Import from CAD

- Code generation and deployment

- Sharing and protecting

28

Thank You