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1 © 2013 MathWorks, Inc.
SimMechanics Model and simulate multibody mechanical systems
Javier Gazzarri
Tom Priestley
Marc Semma
General Electric
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𝑚𝑥 + 𝐵𝑥 + 𝑘𝑥 = F
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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
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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
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Simscape
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Demo
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SimMechanics
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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
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Body Definition – MATLAB
– CAD import
Mass and inertia tensor
calculation
3D animation of simulation
results
Connect to
– Control
– Other physical domains
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System structure
– Parts (mass, inertia)
– Coordinate systems
– Joints and constraints
Parameterize in
MATLAB
Save for reuse
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Body Definition
MATLAB
Pre-defined
Mass, inertia properties
calculated automatically
Create complex shapes
connecting solids
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Demo
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CAD Import
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SimMechanics Link
CAD SimMechanics
– Mate definitions joints
Supported off-the-shelf
– SolidWorks
– ProEngineer
– Inventor
Public API for others
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Demo
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Aileron System
- Mechanism
- Actuation - Ideal vs. practical
- Control gain optimization
- C-code generation - Real Time simulation
- Compiled execution
- IP protection
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Demo
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Demo
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Deploying Models as C Code
C Code
Hardware-in-the-Loop
Simulators
Standalone
Executable Other
Simulation
Environments
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Demo
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Sharing Models
Model Developer
Simscape + SimMechanics
Model Users
Simscape
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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
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Thank You