paul lambrechts mathworks benelux · simmechanics simdriveline simhydraulics simelectronics...
TRANSCRIPT
1© 2015 The MathWorks, Inc.
Model-Based Design
using Simulink and Simscape
Paul Lambrechts
MathWorks Benelux
3
The Challenge: Product Innovation
Smart Product
Multi-Domain
Mechatronics
Micro-electronics
Embedded
Physics
Cyber
Software
Hybrid
Smart Design
Process
• Product Innovation drives
your Business: its ‘Do or Die’
• Today, Product Innovation
usually means ‘Going Smart’
Model-Based Design:
a Smart Design Process
for Smart Products
4
Model-Based Design
INTEGRATION
IMPLEMENTATION
DESIGN
TE
ST
AN
D V
ER
IFIC
AT
ION
RESEARCH REQUIREMENTS
MCU DSP FPGA ASIC
VHDL, VerilogC, C++
Environment Models
Physical Components
Algorithms
Structured
Text
PLC
Smart Product
5
INTEGRATION
IMPLEMENTATION
DESIGN
TE
ST
AN
D V
ER
IFIC
AT
ION
RESEARCH REQUIREMENTS
MCU DSP FPGA ASIC
VHDL, VerilogC, C++
Environment Models
Physical Components
Algorithms
Structured
Text
PLC
Smart Product
Model-Based Design
6
INTEGRATION
IMPLEMENTATION
DESIGN
TE
ST
AN
D V
ER
IFIC
AT
ION
RESEARCH REQUIREMENTS
MCU DSP FPGA ASIC
VHDL, VerilogC, C++
Environment Models
Physical Components
Algorithms
Structured
Text
PLC
Smart Product
Model-Based Design
7
CAD Import
Model:
Problem: Perform dynamic simulation
of a robot arm modeled in CAD
Solution: Import CAD model into
SimMechanics™
CAD
8
3D Multi-Body Dynamics
Bodies and Joints
CAD Translation
SimMechanics:
Modeling of 3D Mechanical Systems
9
Tools for Modeling Physical Systems
Simulink
First-Principles
SystemIdentification
Toolbox
Data-Driven
Complete Modeling Environment
SimMechanics
Simscape
10
Electro-Mechanical System in Equations
DC Motor R
L
Kt,Kb
J,D
ω,T
i
v
dt
diLiRKv b
dt
dJDiKT t
11
DC Motor
Electro-Mechanical System in Simscape
DC Motor R
L
Kt,Kb
J,D
ω,T
i
v
dt
diLiRKv b
dt
dJDiKT t
Easier to read than equations
Quicker to create
More intuitive – easier to explain to other engineers
mechanicalelectrical
12
A ‘bit’ more complex?
13
A ‘bit’ more complex?
mechanicalhydraulic
electrical
14
Use Fundamental
Analogy between
Physical Domains
Domain Across Variable Through Variable
Mechanical
(translational/rotational)
Position Angle
Velocity Angular velocity
Acceleration Angular acceleration
Force Torque
Hydraulic
Pneumatic
Pressure Volumetric flow rate
Mass flow rate, Volume
Electrical
Magnetic
Voltage
Flux
Current
MMF
Thermal Temperature Heat flow
Enthalpy, Entropy
Simscape
Mechanical Hydraulic Electrical Ph. Signals
f(x,y)
Thermal Pneumatic Magnetic
N S
Simscape: Modeling in Multiple Domains
15
FR
qB
pB
vR
FC
qA
vC
Double-Acting Hydraulic Cylinder
Apply following rules to assembled diagram
1. Connected ports have same value
for across variables (pressure, velocity)
2. Sum of through variable (flow rate, force)
into a branch point is equal to 0
qA qB
pA pB
FRFC
vR
vC
Simscape: Physical Network Approach
16
Simscape Language
MATLAB-based
Create new domains
Custom components
User defined libraries
Object oriented
IP Protection
d
ccv
R
v
dt
dvvCCi )( 0
iRvv c
17
SimulinkDesign
Optimization
Simulink
First-Principles
SystemIdentification
Toolbox
Data-Driven
Complete Modeling Environment
SimMechanics
SimDriveline
SimHydraulics
SimElectronics
SimPowerSystems
Simscape
SimMechanics
Tools for Modeling Physical Systems
18
INTEGRATION
IMPLEMENTATION
DESIGN
TE
ST
AN
D V
ER
IFIC
AT
ION
RESEARCH REQUIREMENTS
MCU DSP FPGA ASIC
VHDL, VerilogC, C++
Environment Models
Physical Components
Algorithms
Structured
Text
PLC
Smart Product
Model-Based Design
A Smart Design
Process for
Smart Products
19
INTEGRATION
IMPLEMENTATION
DESIGN
TE
ST
AN
D V
ER
IFIC
AT
ION
RESEARCH REQUIREMENTS
MCU DSP FPGA ASIC
VHDL, VerilogC, C++
Environment Models
Physical Components
Algorithms
Structured
Text
PLC
Smart Product
Model-Based Design
A Smart Design
Process for
Smart Products
20
INTEGRATION
IMPLEMENTATION
DESIGN
TE
ST
AN
D V
ER
IFIC
AT
ION
RESEARCH REQUIREMENTS
MCU DSP FPGA ASIC
VHDL, VerilogC, C++
Environment Models
Physical Components
Algorithms
Structured
Text
PLC
Smart Product
Model-Based Design
A Smart Design
Process for
Smart Products
21
Model-Based Design drives Product Innovation
Smart Product
Multi-Domain
Mechatronics
Micro-electronics
Embedded
Physics
Cyber
Software
Hybrid
Model Based
Design
• Product Innovation drives
your Business: its ‘Do or Die’
• Today, Product Innovation
usually means ‘Going Smart’
A Smart Design
Process for
Smart Products