System modeling using Simulink and Simscape

Transcription

1 System modeling using Simulink and Simscape Abhisek Roy Sruthi Geetha Veer Alakshendra 2015 The MathWorks, Inc. 1

2 Multi-domain Systems 2

3 Common challenges 1. Multi-domain simulation 2. Capturing the system dynamics at desired complexity 3. Developing controls algorithm 3

4 Scissor Lift 4

5 Scissor Lift 5

6 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 6

7 Modeling a DC Motor Model: V+ V- Housing Shaft Problem: Model a DC motor with electrical and mechanical effects 7

8 Different Approaches for Modeling Dynamic Systems Modeling Approaches First Principles Modeling Data-Driven Modeling Programming (MATLAB, C) Block Diagram (Simulink) Modeling Language (Simscape language) Symbolic Methods (Symbolic Math Toolbox) Physical Networks (Simscape and other Physical Modeling products) Parameter Tuning Statistical Methods (Model Based Calibration Toolbox) (Simulink Design Optimization) Neural Networks (Neural Network Toolbox) System Identification (System Identification Toolbox) 8

9 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 9

10 Modeling a DC Motor in Simulink Model: V+ V- 10

11 How to model a DC Motor in Simulink? Based on its equation: 11

12 Different Approaches for Modeling Dynamic Systems Modeling Approaches First Principles Modeling Data-Driven Modeling Programming (MATLAB, C) Block Diagram (Simulink) Modeling Language (Simscape language) Symbolic Methods (Symbolic Math Toolbox) Physical Networks (Simscape and other Physical Modeling products) Parameter Tuning Statistical Methods (Model Based Calibration Toolbox) (Simulink Design Optimization) Neural Networks (Neural Network Toolbox) System Identification (System Identification Toolbox) 12

13 Introduction to Simscape 13

14 Modeling a DC Motor Model: V+ V- Housing Shaft Problem: Model a DC motor with electrical and mechanical effects Solution: Use Simscape to model the electromechanical system as a physical network 15

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16 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 17

17 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 18

18 Hydraulic actuation 19

19 Hydraulic actuation circuit 20

20 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 21

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22 Example: Single Pendulum y Simple Pendulum z θ 1 l x mg Simscape Multibody model advantages Easier to read than equations Quicker to create More intuitive easier to explain to other engineers 25

23 Exercise: Double Pendulum y z x θ 1 m 1 g θ 2 m2g 26

24 Mechanical system DEMO 27

25 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 Requires MATLAB Simscape Multibody Link Export 28

26 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) 29

27 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 30

28 Call to action Aileron Actuator Development with Model-Based Design Modeling an Engine Cooling System 31

29 % Thank you 32