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Modeling Multidomain Physical Systems in Simulink ® Terry Denery Principal Applications Engineer Motion Systems The MathWorks © 2006 The MathWorks, Inc.
Modeling Multidomain Physical Systems in Simulink®
Terry Denery Principal Applications Engineer Motion Systems The MathWorks
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Antenna Pointing
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Mechanical Modeling in Simulink
� 3D Multi-Body Dynamics SimDriveline � Driveline Mechanics
SimMechanics
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Electrical Modeling in Simulink
� � �
Electrical Circuits Motors and Actuators Power Systems
SimPowerSystems
4
Hydraulic Modeling in Simulink
�Hydraulic Circuits �Motors and Actuators �Power Systems
SimHydraulics
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Control Software and Physical System Come Together in Simulink
� Rich modeling environment – Physical – Behavioral – Data-driven
� Control system development tool – One environment for controller and plant – Code generation enables HIL testing – Easy access to control tools
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Physics-Based Modeling Methods Improve Control System Design
+ Controller yu
Electrical Mechanical
Device
Actuators
Sensors
Plant
� Multidomain systems (mechanical, electrical, hydraulic, chemical, . . .)
� Successful controller development requires thorough and accurate understanding of plant
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Simulation of Antenna Pointing
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Antenna System
+
Electrical-MechanicalMotion System
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Antenna System
+
Hydraulic-MechanicalMotion System
10
Motion Platform
AccelerometerMeasurements
Real boat Simulation
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Reconstructing Motion
Three non-collinear points define position and orientation.
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Reading Motion Data into SimMechanics
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Hardware in the Loop (HIL)
Real-Time Workshop®
Generated CodeReal Controller
+ yu Controller
Mechanical Device
Actuators
Sensors
Plant
Model
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“Simulink®, SimMechanics, and Real-Time Workshopenabled us to autonomouslygo from an accurate CAD model of the MRO vehicle into C code that runs in real time.”
Jim Chapel,Lockheed Martin Space Systems
Lockheed Martin Space Systems Uses SimMechanics with a Real-Time Simulator to Automate Mars Reconnaissance Orbiter Development
The Challenge To develop the guidance, navigation, and control system for the Mars Reconnaissance Orbiter
The Solution Use MathWorks tools to accelerate control design and automate the development of accurate, real-time spacecraft simulations
The Results � Spacecraft pointing simulation modeled in days � Interorganization communication improved � Efficient code generated automatically
Artist rendition of Mars Reconnaissance Orbiter
(image courtesy of NASA).
“Simulink®, SimMechanics, and Real-Time Workshop enabled us to autonomously go from an accurate CAD model of the MRO vehicle into C code that runs in real time.”
Jim Chapel, Lockheed Martin Space Systems
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