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Key Points
Simulink supports
Modelling and Simulation Implementation on targets Integrated with MATLAB
Where do we start?
q X
Understand the underlying mathematics/physics of the problem
r
CM
mg q ZZ X
Understand the underlying mathematics/physics of the problem *** Gain insight into the problem ***
r
CM
mgcos(q)
mg q ZZ X
Understand the underlying mathematics/physics of the problem *** Gain insight into the problem ***
us derive the dynamic equations analytically To find analytic (when possible) and/or numerical solutions to the problem
r
CM
mgcos(q)
mg q ZZ X
r
CM
mgcos(q)
mg q ZZ X
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And use the sim command to control the Simulink model from MATLAB scripts
Y
Dynamic differential equation for a single link with friction
r
CM
mgcos(q)
mg q ZZ
b: viscous friction coefficient
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Response Optimization
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SimMechanics Optimization Symbolic Math Statistics MATLAB Parallel Computing MATLAB Distributed Computing Server Simscape Simulink
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Data-Driven Modelling
Statistical Methods
(Model Based Calibration Toolbox)
Programming
(MATLAB, C)
System Identification
(System Identification Toolbox)
Block Diagram
(Simulink)
Modelling Language
(Simscape language)
Neural Networks
Symbolic Methods
(Symbolic Math Toolbox)
Parameter Tuning
(Simulink Design Optimization)
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Key Points
Simulink supports
Modelling and Simulation Implementation on targets Integrated with MATLAB
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17
Simulink
sldemo_tank
penddemo
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Simulink Applications
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Simulink
Simulink is a software package for modeling, simulating, and analyzing dynamical systems
Block diagram editing Nonlinear simulation Hybrid (continuous and discrete) models Asynchronous (non-uniform sampling) simulation Fully integrated with MATLAB, MATLAB toolboxes and blocksets.
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Simulink
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Launching Simulink
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Finding Blocks
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Getting Help
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Creating Subsystem
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Masking Subsystem
28
Key Points
Simulink supports
Modelling and Simulation Implementation on targets Integrated with MATLAB
29
Specification
Plant Model
MATLAB, Simulink
Domain Knowledge
Programming Effort
Domain Knowledge
Programming Effort
Requires less domain knowledge and programming effort than traditional methods
Spend more time developing, less time modeling
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T K t im D J
d dt
dim dt
Kt,Ke J,b i
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T K t im D J
d dt
dim dt
Kt,Ke J,b i
Simple Pendulum .. x Tz = I1 1
mg
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Simple Pendulum .. x Tz = I1 1
mg
1'' = gl sin 1
x
1
mg
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1
m1g
2
m2 g
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5
m5 g x
4
m4 g
1
m1 g
2
m2 g
3
m3 g
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Simscape
Programming Effort
Specification
Domain Knowledge
Plant Model
MATLAB, Simulink
Domain Knowledge Programming Effort
Simscape SimMechanics
Programming Effort Programming Effort Programming Effort Programming Effort Programming Effort Programming Effort
Plant Model
SimDriveline SimHydraulics
SimElectronics
Simscape
Mechanical Hydraulic Electrical
SimPowerSystems
N
Custom Domains via Simscape Language
SimDriveline
SimHydraulics
Thermal
Pneumatic Magnetic
SimElectronics
SimMechanics
SimHydraulics
SimDriveline
SimPowerSystems
Responding to customer demand, Simscape Language Introduced MathWorks will continue SimElectronics Thermal effects optional ports to invest heavily in tools Introduced Code Generation and capabilities for Advances physical modeling. Simscape
Simscape Introduced
Diagnostics Improvements
1998
2000
2002
2004
2006
2008
2010
2012
2014
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Summary
Find problems before building hardware using HIL Discover integration problems using simulation
No cosimulation
Understand
Incorporate Communicate Connect
ENABLE
Prototype Expand Optimize Test
PREPARE
Use Collaborate Experience
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Explore
4. 5. 6. 7. Expand learning to adjacent disciplines Prototype new designs rapidly Test designs completely Optimize designs
Prepare
8. Use industry-standard tools 9. Collaborate with other levels 10. Experience Model-Based Design
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Key Points
Simulink supports
Modelling and Simulation Implementation on targets Integrated with MATLAB
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