why model a physical system?
TRANSCRIPT
1© 2015 The MathWorks, Inc.
Physical Modelling with Simscape™
Rick Hyde
MechanicalEmbedded
Software
Control Electrical
2
Presentation overview
Modelling physical systems
– Why model a physical system?
– Network approach & Simscape™
Example: Aileron actuation system
– Using modelling to support system-level design
Modelling brushless motors
– Matching model fidelity to the design task
What’s new in and
3
Why model a physical system?
Example: humanoid robot arm
– What are the actuation requirements?
Space and weight constraints
Torque/force, speed & power
Compliance
Precision
Dynamic tracking bandwidth
Failure behaviour
– Which actuation technology?
– What is the impact on the rest of the system?
Power supply requirements
Heat
Electromagnetic interference
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System-level
model of
complete system
System model with
selectable detailed &
behavioural sub-models
Behavioural model
of actuation system
4
Extending Simulink® using Simscape™
Simulink
Equation set–
– Explicit equation
Relevance
– Single body motion
– Multiple-body motion when
there is compliance
– Most algorithms (control)
Simscape extension
Equation set–
– Implicit equation
Relevance
– 1-D multi-body systems e.g.
drivelines
– Electrical networks
– Hydraulic/pneumatic networks
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What does this model represent?
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What does this model represent?
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Modelling an electrical circuit in Simulink
Step 1: figure out the equations
Step 2: build the model
Step 3: fix algebraic loops
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Modelling an electrical circuit in Simscape
Single step: Build the model
Network approach:
1. Node defines potential for
connected components
2. Flows sum to zero at
nodes
3. Each component has an
equation
4. Additional equations from
network topology
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Physical systems in Simulink
Multibody mechanics (3-D)
Powertrain systems (1-D)
Fluid power and control
Electrical power systems
Electromechanical and
electronic systems
Simscape
MATLAB, Simulink
Sim
Mech
an
ics
Sim
Dri
velin
e
Sim
Hyd
rau
lic
sS
imE
lec
tro
nic
s
Sim
Po
werS
yste
ms
Multidomain physical systems
SimscapeMechanical Hydraulic Electrical
Thermal
Liquid
Custom Domains (Simscape Language)
Pneumatic Magnetic
N S
Mechanical
Thermal
10
Simscape Language
Write your own components
Define your own domains or
use foundation ones
Use foundation library
components as templates
Share your component
libraries with others
11
Presentation overview
Modelling physical systems
– Why model a physical system?
– Network approach & Simscape™
Example: Aileron actuation system
– Using modelling to support system-level design
Modelling brushless motors
– Matching model fidelity to the design task
What’s new in 15a and 15b
12
Example: Aileron Actuation System
System
Simulation goals
1. Determine requirements for actuation system
2. Compare actuation technologies
3. Run simulation on real-time hardware for HIL tests
Actuator
Force
Extension
Control
Desired
Angle
21
Model-Based Design Process
Save time by developing
in a single simulation
environment
Produce better designs by
continuously comparing
design and specification
Lower costs by using HIL
tests and fewer hardware
prototypes
Simulation Model
MechanicalEmbedded
Software
Requirements
and
Specifications
Control Electrical
22
Key Points
Testing different actuator designs
in one environment saves time
and encourages innovation
Optimising systems with respect
to design requirements leads to
optimal design choices
Simulating at different levels of
fidelity is required to see effects
of design implementation
Aileron Angle Actuator Force
23
Presentation overview
Modelling physical systems
– Why model a physical system?
– Network approach & Simscape™
Example: Aileron actuation system
– Using modelling to support system-level design
Modelling brushless motors
– Matching model fidelity to the design task
What’s new in 15a and 15b
24
Modelling use cases and modelling level (1 to 3) classification
1. System-level simulation
– Torque-speed behaviour
– Model motor losses as part of overall
efficiency & thermal calculations
2. Component validation
– Ensure motor stays within manufacturer
operating limits
– Detailed analysis of impact on other
components e.g. power harmonics
3. Component design
– Motor and/or drive circuitry
– Determine overall actuation losses
Modelli
ng d
eta
il
Mechanical/control
engineer
Motor designer and
electronics
engineer
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Level 1: System-level simulation
Designer’s objectives
– Validate power requirements
– Make predictions about system efficiency
– Thermal modelling/design
– Real-time simulator
Modelling solution
– Energy-based approach (no switching, fast,
HIL-compatible)
Resources
SimElectronics block: Servomotor (8a), tabulated losses (15b)
SimElectronics examples: elec_hybrid_electrical_network.slx &
elec_servomotor_efficiency.slx (15b)
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Level 2: Component validation
User’s objectives
– Check motor and drive electronics stay
within permitted temperature limits.
– Quantify impact on DC supply (harmonics).
Modelling solution
– Model power switching with ideal switch
assumption
– Parks transform plus constant inductances
sufficient for motor Resources
SimPowerSystems blocks:
PMSM and BLDC motor models
Semiconductor switching devices
SimPowerSystems examples:
pe_pmsm_drive.slx
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Level 3: Component design
User’s objectives
– Motor design or specification
– Build a dynamic simulation model to
support controller design and efficiency
predictions.
Modelling solution
– Model motor using finite-element
magnetic data
– Model drive electronics using device-level
IGBT models Resources
SimElectronics blocks:
N-Channel IGBT
FEM-Parameterized PMSM (15b)
SimElectronics examples:
elec_pmsm.slx (15b)
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Presentation overview
Modelling physical systems
– Why model a physical system?
– Network approach & Simscape™
Example: Aileron actuation system
– Using modelling to support system-level design
Modelling brushless motors
– Matching model fidelity to the design task
What’s new in and
29
MathWorks Investment in
Physical Modelling
More than 15 years
of acausal modelling
Pace increased rapidly
with introduction of Simscape
Thermal Liquid
In SimscapeMagnetics
In Simscape
Pneumatics
In Simscape
Simscape Language
SimElectronics
SimHydraulics
3-D Vis. Improvements
AutodeskTranslator
Ideal Switching
Algorithm Introduced
Electric Drives
Library Introduced
ProEngineer
Translator
SolidWorks
Translator
SimDriveline
SimMechanics
Simscape
SimPowerSystemsIntf. Elements
Editing Mode
1998 2000 2002 2004 2006 2008 2010 2012 2014 2016
Zero
Crossing
Statistics
Simscape
Logging
Local
Solver
Simscape-Based
Libraries
Model
Statistics
Viewer
Thermal effects
optional ports
Simscape-Based
Library (2G)
Simscape-Based
Library (2G)
Variable
Viewer
Two-Phase Fluids
In Simscape
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Updates to Simscape Products in
Simscape
– Variable Viewer link to block diagram
– Improved efficiency for initialization
– Sparkline plots for logged data
SimDriveline
– Thermal variants for Gears library
– Transmission templates
– Shift linkage position vrnt. Dog Clutch
SimHydraulics
– Variable-Displacement Hydraulic
Machine (External Efficiencies) block
– Valve opening dynamics
– Accumulator with improved hard stops
SimMechanics
– Show/Hide in Mechanics Explorer
– Lead Screw Joint block
– Constant Velocity Joint block
SimElectronics
– elec_getPowerLossSummary fcn
– Nonlinear magnetization inductance
– Schmitt Trigger, Current Limiter block
– Droop param. for DC-DC Converter
– Thermal port for H-Bridge block
SimPowerSystems SC, ST
Asynch. machines with SI param
Synch: Machine Model 2.1 blocks
Zigzag-Delta1-Wye, Zigzag-Delta11-
Wye, Average-Value Inverter
New powergui dialog box and tools
Interpolate option for Tustin solver
Annotation, export for Load Flow Tool
>> power_customize function
Three-limb core for 3-phase xformer
PV Array and examples
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SimMechanicsNew Joints
Lead Screw Joint
Constant Velocity Joint
– Angular velocity about z-axes for B and F is same
See also >> sm_linear_actuator
CV Joint
Universal
Joint >> sm_pto_shaft
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SimDrivelineTransmission Templates
Incorporate transmissions
into vehicle models
– Structure includes gearing,
inertias, and clutch schedule
– Modify them to create other
transmission types
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SimDrivelineThermal Variants for Gears Library
Incorporate thermal effects
into geared systems
– Efficiency dependent on temperature
– Account for heat generated due to meshing
Right-click on block
to select thermal variant
– Thermal port exposed
– Additional parameters
– Variants for all blocks in Gears Library
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Updates to Simscape Products in
Simscape
– Two-Phase Fluid Domain & Library
– Domain-specific colors on block icons
– Periodic Operators library
– Variable priority “None” for initialization
SimDriveline
– Variable Mass, Variable Inertia blocks
– Unbalanced Load block
– Variable-friction tire model
SimHydraulics
– Pneu-Hydr. actuator with 2 mech ports
SimMechanics
– Point On Curve Constraint block
– Spline block for curved paths
– Frame creation via Solid block UI
– Mechanics Explorer link to
block diagram
SimElectronics
– Limits, tolerances, faults in Resistor
– Tabulated efficiency in Servomotor
– Fault block for open-, short-circuit faults
– FEM-Parameterized PMSM block
SimPowerSystems SC, ST
Nonlin. Transformer, Nonlin. Inductor
Single-Phase Circuit Breaker with arc
Back EMF profile param. (DC Motor)
Fundamental Drive Blocks library
Power Converter blocks
Load flow for systems with unbalanced
currents, single-phase connections
External temperature input for Battery
Powergui interpolation option
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SimElectronicsLimits, Tolerances, Faults in Resistor
Apply tolerances to
resistance parameter
Specify fault behavior
– Resistance after failure
– Time, behavioral fault
Specify operating limits
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SimMechanicsPoint On Curve Constraint, Spline Block
Constrain frame to 2D or 3D curve
– Define curve relative to frame (Spline Block)
– Constrain frame to curve using
Point on Curve Constraint
– Measure force required
to keep frame
on curve
Try:>> sm_cam_flapping_wing
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SimscapeColors on Block Icons, Rounded Connections
Block icons have
domain-specific colors
Physical connections
have rounded corners
Improves readability as a
multidomain schematic
Without Styling
Rounded Corners
Domain colors
on icon
R2015b
38
SimscapeTwo-Phase Domain and Library
Foundation Library for
systems with working fluid
part liquid, part vapor
Use when phase changes
are critical effect in system
– Vaporization
– Condensation
– Cavitation
Gas
Specific Enthalpy, h
Pre
ssu
re, p
Isothermal
Liquid
Liquid-Vapor
Dome
Two-Phase Fluid
Thermal
Liquid
Try:>> ssc_refrigeration
>> ssc_cavitation_two_phase_fluid
>> ssc_fluid_vaporization_in_pipe
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Summary
Modelling physical systems
– Why model a physical system?
– Network approach & Simscape™
Example: Aileron actuation system
– Using modelling to support system-level
design
Modelling brushless motors
– Matching model fidelity to the design task
What’s new in 15a and 15b
Simscape
MATLAB, Simulink
Level 1:
energy-
based
Level 2:
ideal
switching
Level 3:
FEM +
nonlinear