1© 2015 The MathWorks, Inc.

System modeling using Simulink

and Simscape

Abhisek Roy

Sruthi Geetha

Veer Alakshendra

2

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

7

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)

13

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

18

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