System modeling using Simulink and Simscape - MATLAB EXPO
Transcript of System modeling using Simulink and Simscape - MATLAB EXPO
1© 2015 The MathWorks, Inc.
System modeling using Simulink
and Simscape
Abhisek Roy
Sruthi Geetha
Veer Alakshendra
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Multi-domain
Systems
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Common challenges
1. Multi-domain simulation
2. Capturing the system dynamics at desired complexity
3. Developing controls algorithm
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Scissor Lift
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Scissor Lift
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Agenda
▪ Understanding and capturing the behavior of a system
– Various approaches of modeling
– Example: DC motor
▪ Model the Scissor Lift
– Hydraulic actuation system
– Mechanical System
▪ Developing control strategy
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Modeling a DC Motor
Problem: Model a DC motor with
electrical and mechanical effects
Model:
Shaft
V+
V-
Housing
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Data-Driven ModelingFirst Principles Modeling
Neural Networks
Physical NetworksSystem
Identification
Parameter Tuning
Programming
Block Diagram
Modeling Language
Symbolic Methods
Modeling Approaches
Different Approaches for Modeling Dynamic Systems
Statistical Methods
(MATLAB, C)
(Simulink)
(Simscape language)
(Symbolic MathToolbox)
(Simscape and other
Physical Modeling
products)
(Neural NetworkToolbox)
(Model BasedCalibration Toolbox)
(Simulink Design Optimization)
(System Identification Toolbox)
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What is Simulink?
The leading environment for modeling,
simulating and implementing dynamic and
embedded systems
▪ Block-diagram environment
▪ Model, simulate, and analyze multi-domain
systems
▪ Accurately design, implement, and test complex
systems for:
– Communications
– Control
– Signal processing
– Video and image processing
▪ Platform for Model-Based Design
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Modeling a DC Motor in Simulink
Model:
V+
V-
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How to model a DC Motor in Simulink?
Based on its equation:
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Data-Driven ModelingFirst Principles Modeling
Neural Networks
Physical NetworksSystem
Identification
Parameter Tuning
Programming
Block Diagram
Modeling Language
Symbolic Methods
Modeling Approaches
Different Approaches for Modeling Dynamic Systems
Statistical Methods
(MATLAB, C)
(Simulink)
(Simscape language)
(Symbolic MathToolbox)
(Simscape and other
Physical Modeling
products)
(Neural NetworkToolbox)
(Model BasedCalibration Toolbox)
(Simulink Design Optimization)
(System Identification Toolbox)
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Introduction to Simscape
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Modeling a DC Motor
Problem: Model a DC motor with
electrical and mechanical effects
Solution: Use Simscape to model
the electromechanical system
as a physical network
Model:
Shaft
V+
V-
Housing
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Agenda
▪ Understanding and capturing the behavior of a system
– Various approaches of modeling
– Example: DC motor
▪ Model the Scissor Lift
– Hydraulic actuation system
– Mechanical System
▪ Developing control strategy
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Agenda
▪ Understanding and capturing the behavior of a system
– Various approaches of modeling
– Example: DC motor
▪ Model the Scissor Lift
– Hydraulic actuation system
– Mechanical System
▪ Developing control strategy
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Hydraulic actuation
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Hydraulic actuation circuit
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Agenda
▪ Understanding and capturing the behavior of a system
– Various approaches of modeling
– Example: DC motor
▪ Model the Scissor Lift
– Hydraulic actuation system
– Mechanical System
▪ Developing control strategy
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Example: Single Pendulum
Simple Pendulum
▪ Simscape Multibody model advantages
– Easier to read than equations
– Quicker to create
– More intuitive – easier to explain to other engineers
θ1
x
y
z
mg
l
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Exercise: Double Pendulum
θ2
m2g
θ1
x
y
z
m1g
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Mechanical system
DEMO
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Import CAD Data Using
Simscape Multibody Link
▪ Automatically create Simscape Multibody
models from a CAD assembly
– Converts mass and inertia to rigid bodies
– Converts mate definitions to joints
– Creates STEP files for use with
Simscape Multibody visualization
▪ Directly connects SOLIDWORKS,
PTC Creo® (Pro/ENGINEER®)
and Inventor
▪ Free download from www.mathworks.com
– Requires MATLAB
Simscape Multibody Link
Export
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Simscape Multibody Link:
Convert CAD Assembly to Simscape Mutibody
▪ Use Simscape Multibody Link plugin to export from CAD to XML
▪ Import XML file into Simscape Multibody (>> smimport)
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Agenda
▪ Understanding and capturing the behavior of a system
– Various approaches of modeling
– Example: DC motor
▪ Model the Scissor Lift
– Hydraulic actuation system
– Mechanical System
▪ Developing control strategy
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Call to action
▪ Aileron Actuator Development with Model-Based Design
▪ Modeling an Engine Cooling System
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% Thank you