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