This article introduces the possibilities of the simulation and visualisation of the "Twin-Rotor MIMO System" laboratory model outputs by means of various support software tools. The 3D model of the system, (used for simulation and visualisation), is designed in SolidWorks 3D CAD software. Matlab/Simulink with extension libraries like Simscape and 3D Animation -(formerly Virtual Reality Toolbox), is used for 3D visualisation and simulation. The 3D Animation toolbox is only used for the visualisation of the mathematical and real models. The Simscape library -on the other hand, is used for the validation of the reverse control of the derived mathematical model´s correctness and for simulation and analysis purposes as a suitable substitution for real models. As a result of this, these supporting software tools streamline the overall suggested controls -from analysis to presentation of the results.
When designing a mechatronic system, several steps are taken into account. One of the main steps is the design of a CAD model representing the physical part of the system, and another major point is the development of the mathematical model necessary for the respective controller design. This paper combines both design steps and shows the advantages of using this approach. First, a CAD model is created considering the kinematic and dynamic behavior of the system as well as respective material properties. This CAD model is, in parallel, used for both purposes: as the main basis for developing a mathematical model that will be used for definition of control laws and appropriate system controllers, and also to generate a physical model as result of exporting to MATLAB/Simulink (Simscape/SimMechanics library) in order to simulate the system behavior. This translation does not consider only the standard CAD model export to the SimMechanics library when forces and torques between links are clearly defined, but also the correct way to add corresponding limiting forces/torques. When comparing the behavior of the physical model and the mathematical model, it is important to obtain similar results, especially when it is necessary to perform some simplifications of a mathematical model, as happens in the context of nonlinear systems control. All these issues are discussed in this paper and the obtained simulation results for both models are similar, which confirms the proposed approach.
Dynamic behaviour comparison of three different mathematical descriptions complexity for first 3 joints of 6 degrees of freedom robotic structure is presented in this article. Firstly, 3D CAD model is designed in SolidWorks, which is used as the basis for a physical and mathematical model. The CAD model is exported directly from SolidWorks to SimMechanics as a physical model which is considered as the most accurate replacement for a real model in this work. The first type of a mathematical model is the most precise but also the most complex; it is based on SolidWorks inertia matrices and matrix form of Lagrange's motion equations of the second kind. The second type of a mathematical model is created by each part replacement with a suitable simplified shape; classical integration approach with Lagrange's motion equations of the second kind is used. The third type of a mathematical model is based on the same approach as the second type, but all the objects are replaced by mass points. At the end, all the results of dynamic behaviour are compared with the physical model, for utilization in controller design.
Abstract. This text discusses the use and integration of various support software tools for the purpose of designing the motion control law governing mechanical structures with strongly non-linear behaviour. The detailed mathematical model is derived using Lagrange Equations of the Second Type. The physical model was designed by using SolidWorks 3D CAD software and a SimMechanics library. It extends Simulink with modelling tools for the simulation of mechanical "multi-domain" physical systems. The visualization of Simulink outputs is performed using the 3D Animation toolbox. Control law -designed on the basis of the mathematical model, is tested for both models (i.e. mathematical and physical) and the regulatory processes' results are compared.
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