https://github.com/mathworks/simscape-multibody-multiphysics-library

Extend Simscape Multibody models with physical effects spanning multiple physical domains.
https://github.com/mathworks/simscape-multibody-multiphysics-library

simscape

Last synced: 5 months ago
JSON representation

Extend Simscape Multibody models with physical effects spanning multiple physical domains.

• Host: GitHub
• URL: https://github.com/mathworks/simscape-multibody-multiphysics-library
• Owner: mathworks
• License: other
• Created: 2019-11-02T13:36:36.000Z (over 6 years ago)
• Default Branch: master
• Last Pushed: 2024-08-22T13:04:18.000Z (almost 2 years ago)
• Last Synced: 2025-01-03T10:46:52.892Z (over 1 year ago)
• Topics: simscape
• Language: HTML
• Homepage:
• Size: 37.6 MB
• Stars: 11
• Watchers: 5
• Forks: 18
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE.md
  • Security: SECURITY.md

Awesome Lists containing this project

README

          
# **Simscape Multibody Multiphysics Library**

Copyright 2013-2023 The MathWorks(TM), Inc.

This repository contains example models showing how to extend Simscape Multibody models

by adding physical effects spanning multiple physical domains modeled in Simscape. 

View on File Exchange: [![View Simscape Multibody Multiphysics Library on File Exchange](https://www.mathworks.com/matlabcentral/images/matlab-file-exchange.svg)](https://www.mathworks.com/matlabcentral/fileexchange/37636-simscape-multibody-multiphysics-library)  

You can also open in MATLAB Online: [![Open in MATLAB Online](https://www.mathworks.com/images/responsive/global/open-in-matlab-online.svg)](https://matlab.mathworks.com/open/github/v1?repo=mathworks/Simscape-Multibody-Multiphysics-Library&project=Multibody_Multiphysics_Library.prj)

Open project Multibody_Multiphysics_Library.prj to get started

![](Examples/CAD/01_Lift_Table/html/html/sm_lift_table_mechanicsExplorer.png)

Connecting the models using Simscape Physical Signals ensures a lossless transfer 

of power between physical networks. This submission contains a library that contains 

general interface blocks (rotational, translational), and example models showing 

how to use them to model multidomain physical systems.

You need to ensure that your use of these interfaces is physically valid.  Connecting

a 3D mechanical model to a 1D physical systems requires that you follow a few basic

rules:

1. Never add inertia directly to the node on the Simscape side of the interface.

  

   All masses in Simscape models live in an implicit inertial reference frame. A Simscape mechanical 

   circuit interfaced to a Simscape Multibody machine in general moves in an accelerated frame. A simulation 

   with such a circuit does not include the pseudoforces acting on the Simscape mass and inertia elements 

   as experienced in such a noninertial frame and thus violates Newton's second law of mechanics.

2. If you must model inertia in the Simscape network, connect it to the interface element 

   via a spring and damper connected in parallel.  Be aware that a Simscape circuit does not model 

   the motion of such bodies along or about axes orthogonal to the coupled primitive axis chosen 

   in the interfaced Joint.

3. Quantities sensed in Simscape (like translation at a node) may be offset from comparable quantities

   measured in Simscape Multibody.  This is because the initial position of the Simscape Multibody joint,

   which is determined during the assembly process, is not automatically conveyed to the Simscape network.

   You must either use MATLAB variables to synchronize the setting of the initial position or feed

   the position from Simscape Multibody to the Simscape network.  The examples in this submission

   show how to do that.

### **Release History** 

**v4.1 Sep 2023** (R2023a)   

1. Updated for R2023a

2. Converted examples from Hydraulic domain to Isothermal Liquid domain

**v4.1 Mar 2022** (R2022a)   

1. Updated for R2022a

**v4.1 Sep 2021** (R2021b)   

1. Updated for R2021b

**v4.1 Mar 2021** (R2021a)   

1. Updated for R2021a

2. Examples added and modified to use interface blocks shipping in R2021a

   Original examples retained to show options for custom blocks.

**v4.0 Sep 2020** (R2019b - R2020b)   

1. Updated for R2020b

**v4.0 Mar 2020** (R2019b - R2020a)   

1. Updated for R2020a

**v4.0 Sep 2019** (R2019b)   

1. Updated for R2019b

2. Converted to MATLAB Project with core content as Reference Project

**v3.0 	Mar 2019** (R2019a)

1. Updated for R2019a

2. Joint limits within Simscape Multibody added (see sm_ssci_hinge_hardstop.slx)

3. Physical Signal blocks updated for unit propagation.

**v2.7 Sep 2018** (R2018b)

1. Updated for R2018b

**v2.6 Mar 2018** (R2018a)

1. Updated for R2018a

**v2.5 Sept 2017** (R2017b)

1. Added block Hydraulic Cylinder SA PS to library which models

   a single-acting hydraulic cylinder using a physical signal interface.  

2. Added sm_ssci_02_cylinder_sa_pump which models a single 

   piston pump using the Hydraulic SA PS block.                          

**v2.4 Sept 2017** (R2017b)

1. Updated for R2017b.

**v2.3 July 2017** (R2017a)

1. Fixed mistake in library (Interfaces/Translational Simscape Multibody).

   Changed checkbox from torque to force.

   Added example sm_ssci_01_slider_crank.slx                            

**v2.2 	May 2017** (R2017a)

1. Initial release (version number set to match File Exchange)

   Includes general 3D-1D interface blocks as well as abstract multiphysics

   blocks connecting hydraulic, electrical, and mechanical effects to

   multibody systems.  5 basic examples and one CAD workflow example.