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SimMechanics 2.7

Model and simulate mechanical systems

SimMechanics extends Simulink® with tools for modeling and simulating mechanical systems. SimMechanics simulates the motion of mechanical devices and generates mechanical performance measurements associated with this motion. It is integrated with MathWorks control design and code generation products, enabling you to design controllers and test them in real time with the model of the mechanical system. SimMechanics can be used for a variety of aerospace, defense, and automotive applications, such as the development of active suspension, antirollover, landing gear and control surface actuation systems.

Key features

Provides a modeling environment for building three-dimensional rigid-body mechanical systems Includes a variety of simulation techniques for analyzing motion and sizing mechanical components Enables the visualization and animation of mechanical system dynamics Enables the implementation of high-fidelity, nonlinear plant models in Simulink to support the development and testing of control systems Provides a SolidWorks translator to enable the use of CAD tools to define mechanical models

Model of a Stewart platform, built in SimMechanics. The force and power plots show the calculated requirements of the motion driving actuators.

Building Mechanical Systems

SimMechanics provides tools for building mechanical models that include bodies, joints, coordinate systems, and constraints. You can connect SimMechanics blocks with Simulink blocks to include nonmechanical, multidomain effects in your mechanical models. You can save models that combine Simulink and SimMechanics blocks as subsystems for reuse in many applications. These subsystems include:

Virtual Reality Toolbox animation of the four-cylinder engine model in the Web browser during simulation (right) and a MATLAB visualization of the same engine model (bottom).

· Nonlinear springs that use Simulink lookup tables and SimMechanics sensors and actuators

· Aerodynamic drag models that attach pres-

sure distributions to aerospace components, such as ailerons and rudders as antiroll mechanisms and controllers

· Active vehicle suspension subsystems, such · Tire models for aircraft and ground vehicles

Simulating and Analyzing Mechanical Motion

By simulating your SimMechanics model, you can impose kinematic constraints, apply forces and torques, and measure the resulting motions and forces. You can also develop and test motion-driving actuators, such as electric motors, ball screws, hydraulic cylinders, and engines. SimMechanics supports five motion analysis modes: Forward Dynamics--Assigns driving forces and torques to the motion-driving actuators and calculates the resulting motions of the entire system Inverse Dynamics and Kinematics-- Determines the forces and torques that must be exerted by the actuators to produce userspecified motions Trimming--Identifies the steady-state equilibrium points to be used for linearization and system analysis Linearization--Extracts a linear model that predicts the system's response to perturbations in driving forces, joint and constraint configurations, and initial conditions Collectively, these modes of analysis enable you to test mechanical performance, select proper actuation systems, and develop optimal controls.

Creating Animations

SimMechanics gives you access to all standard MATLAB® graphics functions, and automatically creates three-dimensional animations of your mechanical system. With the Virtual Reality Toolbox (available separately) you can connect to a VRML environment and create presentationquality animations.

[F1] Force 1 [F2]

[P1] [P2] [P3] [P4] [P5] 2 [P6] Body Position Position 3 [TPT][TPR]

em

[F3] [F4] [F5] [F6]

[FO2] [FO3] [FO4] [FO5] [FO6]

[F01] Output_Force 1

Body Sensor2

Body Sensor1

CS6 CS8

CS3 CS9

CS7

CS5

CS4

CS2

TopPlate

Conn1 Conn2

Conn1 Conn2

Conn1 Conn2

Conn2

Conn1

Conn1

[P1][FO1]

[P2][FO2]

[P3][FO3]

[P4][FO4]

[P5][FO5]

Force1

[P6][FO6]

Force1

Connection Port 2

Connection Port 2

Connection Port 2

Connection Port 2

Connection Port 2

Connection Port 1

Connection Port 1

Connection Port 1

Connection Port 1

Connection Port 1

Conn2 Conn1

Conn2 Conn1

Conn2 Conn1

Connection Port 1

LegAsmbly1

LegAsmbly2

LegAsmbly3

LegAsmbly4

LegAsmbly5

Connection Port 2

Force1

Force1

Force1

Positi on

Positi on

Positi on

Positi on

Force1

Positi on

Positi on

Conn1

Universal Joint

Universal Joint 7

Universal Joint 8

Conn2

Conn2

Universal Joint 9

Universal Joint 10

Universal Joint 11

LegAsmbly6

Forc e

Forc e

Forc e

Forc e

Forc e

Forc e

Conn2 Conn1

Conn2 Conn1

Base_Joint

[F4] Base_Joint2

Base_Joint1

Base_Joint3

[F5]

[F6] Base_Joint4

Conn2 Conn1

[F1]

[F2]

[F3]

Base_Joint5

A complex SimMechanics model that captures the dynamics of a Stewart platform.

CS5

CS4

CS3

CS8

CS2

CS7

CS6

BasePlate

B F

weld6

RootGround

Developing and Testing Controls

SimMechanics implements high-fidelity, nonlinear plant models in Simulink that can be used in the development and testing of control systems. You can extract linear plant models from the complete, nonlinear model using Simulink Control Design (available separately) for use with any MathWorks control design product.

Generating Code

SimMechanics models can be deployed through automatic code generation with Real-Time Workshop® (available separately). You can use the generated code to:

Exporting CAD Assemblies from SolidWorks into SimMechanics

SimMechanics includes a translator that lets you automatically create a SimMechanics model based on a SolidWorks CAD assembly. You simply save the CAD assembly in SolidWorks as a SimMechanics XML file. The SolidWorks-to-SimMechanics translator exports the mass and inertia of each part in the assembly and creates the appropriate part in SimMechanics. The translator also queries the SolidWorks mate definitions to automatically connect the SimMechanics parts with the appropriate joints. The SolidWorks-to-SimMechanics translator can be downloaded free of charge.

· Build stand-alone executables of your

SimMechanics models that can be integrated into C programs or other MATLAB and Simulink models porting SimMechanics plant models onto real-time processors that interface directly with hardware model by compiling the C code

· Run hardware-in-the-loop simulations by

· Improve the calculation speed of your

Multidomain Physical Modeling in Simulink

SimMechanics provides expanded capabilities for simulating physical systems in Simulink. Standard Simulink blocks define a transfer function between input and output signal flows. For applications such as control systems design and signal processing, this approach is natural, practical, and functional. Modeling interactions among components in mechanical systems requires a broader paradigm. For example, unidirectional signal flow is inadequate for modeling mechanical bodies that are exerting forces on each other. With SimMechanics, you can create a control system as a standard unidirectional signal flow block diagram and then connect this model to a physical plant, modeled using a mixture of traditional Simulink blocks and the specialized physical modeling blocks in SimMechanics.

Required Products

MATLAB Simulink Simscape

Related Products

Real-Time Workshop. Generate optimized, portable, and customizable code from Simulink models SimPowerSystems. Model and simulate electrical power systems Simulink Control Design. Perform linear analysis Virtual Reality Toolbox. Animate and visualize Simulink systems in three dimensions For more information on related products, visit www.mathworks.com/products/simmechanics

Platform and System Requirements

For platform and system requirements, visit www.mathworks.com/products/simmechanics

For demos, application examples, tutorials, user stories, and pricing: · Visit www.mathworks.com · Contact The MathWorks directly US & Canada 508-647-7000 Benelux France Germany Italy Korea Spain Sweden Switzerland UK +31 (0)182 53 76 44 +33 (0)1 41 14 67 14 +49 (0)241 470 750 +39 (011) 2274 700 +82 (0)2 6006 5114 +34 93 362 13 00 +46 (8)505 317 00 +41 (0)31 950 60 20 +44 (0)1223 423 200

Visit www.mathworks.com to obtain contact information for authorized MathWorks representatives in countries throughout Asia Pacific, Latin America, the Middle East, Africa, and the rest of Europe.

Tel: 508.647.7000 [email protected] www.mathworks.com

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© 2004 by The MathWorks, Inc. MATLAB, Simulink, Stateflow, Handle Graphics, and Real-Time Workshop are registered trademarks, and TargetBox is a trademark of The MathWorks, Inc. Other product or brand names are trademarks or registered trademarks of their respective holders.

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