PIRAEUS UNIVERSITY OF APPLIED SCIENCES

TECHNOLOGICAL EDUCATION INSTITUTE OF PIRAEUS

DEPARTMENT OF COMPUTER SYSTEMS ENGINEERING

THESIS

Physical Systems Simulation using SIMSCAPE

Panagiotis C. Mentzelopoulos

Rapporteur: Anastasia Veloni, Applications Lecturer

Athens
JANUARY 2018
Physical Systems Simulation using SIMSCAPE

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Physical Systems Simulation using SIMSCAPE

THESIS

Physical Systems Simulation using SIMSCAPE

Panagiotis C. Mentzelopoulos
Α.Μ 40740

Rapporteur:

Anastasia Veloni, Applications Lecturer

Examination Committee:

………………………………………………..

Examination Date ../../2017

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THANKINGS

First and foremost, I would like to thank Mrs Anastasia Veloni for her continuous
support and guidance throughout the completion of my thesis.
A big thank you to my family: my parents and my brother for supporting me
academically and in life.
Lastly, I would like to thank the people in my life that knowingly or not helped me
finish my thesis.

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ABSTRACT
The thesis introduces the user on how to create physical systems using
SIMSCAPE and run simulations for these systems. The thesis walks the reader
through the process of getting familiar with the MATLAB and Simscape
environment, understanding the Simscape toolbox options , listing the available
components provided by Simscape as well as creating custom components
through the Simscape Language. Also some of the built-in ready-to-use demos of
completed models ready for simulation are shown as well as the creation of a new
custom model from start to finish.
The whole thesis approach is very user friendly providing many images and step
by step instructions.

SCIENTIFIC AREA: Computer Engineering

KEYWORDS: Simscape, Physical Systems, Simulation, MATLAB, Simulink

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CONTENTS

1. INTRODUCTION 19
2. MATLAB 21
2.1 What is MATLAB? 21
2.2 History of MATLAB 21
2.3 MATLAB‟s evolution 21
2.4 MATLAB Breakdown 22
2.5 MATLAB Interface 23
3. SIMSCAPE 25
3.1 What is SIMSCAPE? 25
3.2 Getting to know SIMSCAPE 25
4. SIMSCAPE COMPONENTS 43
4.1 Foundation Library 43
4.1.1 Electrical Models 43
4.1.2 Hydraulic Models 46
4.1.3 Magnetic Models 49
4.1.4 Mechanical Models 51
4.1.5 Physical Signals Models 54
4.1.6 Pneumatic Models 57
4.1.7 Thermal Models 60
4.2 SimDriveline 62
4.2.1 Brakes & Detents 63
4.2.2 Clutches 64
4.2.3 Couplings & Drives 65
4.2.4 Engines 66
4.2.5 Gears 66
4.2.6 Tires & Vehicles 69
4.3 SimElectronics 70
4.3.1 Actuators & Drivers 70
4.3.2 Integrated Circuits 73
4.3.3 Passive Devices 74
4.3.4 Semiconductor Devices 75
4.3.5 Sensors 76
4.3.6 Sources 77
4.3.7 Additional Components 77
4.4 SimHydraulics 78
4.4.1 Accumulators 79
4.4.2 Hydraulic Cylinders 79
4.4.3 Hydraulic Utilities 80
4.4.4 Local Hydraulic Resistances 80
4.4.5 Low-Pressure Blocks 81
4.4.6 Orifices 82

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4.4.7 Pipelines 83
4.4.8 Pumps and Motors 84
4.4.9 Valves 85
4.5 SimMechanics 89
4.5.1 Bodies 90
4.5.2 Joints 91
4.5.3 Constraints & Drivers 95
4.5.4 Sensors & Actuators 96
4.5.5 Force Elements 97
4.5.6 Interface Elements 97
4.5.7 Utilities 98
4.6 Utilities 99
5. SIMSCAPE LANGUAGE 101
5.1 SIMSCAPE Language 101
5.2 Component Types 101
5.3 Creating a new component 102
5.4 Thermal Resistor 103
6. A LOOK AT DEMOS AND CREATING A NEW MODEL 105
6.1 Setting up the Simscape Simulation Results Explorer 105
6.2 List of available demos 107
6.3 Permanent Magnet DC Motor(PMDC) 108
6.4 Pneumatic Motor 114
6.5 Modeling a DC Motor 115
BIBLIOGRAPHY 136

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SCHEMATICS CATALOGUE
Image 2.1: MATLAB‟s User Interface 23
Image 3.1: MATLAB‟s Command Window 25
Image 3.2: SIMSCAPE‟s Interface 26
Image 3.3: SIMSCAPE‟s Toolbar 26
Image 3.4: SIMSCAPE‟s File toolbar 26
Image 3.5: SIMSCAPE‟s New Model Window 27
Image 3.6: SIMSCAPE‟s New Library Window 27
Image 3.7: SIMSCAPE‟s Model Properties 28
Image 3.8: Simulink‟s Preferences 29
Image 3.9: SIMSCAPE‟s Export to Web 29
Image 3.10: SIMSCAPE‟s Design Description 30
Image 3.11: SIMSCAPE‟s Print 31
Image 3.12: SIMSCAPE‟s Print Setup 31
Image 3.13: SIMSCAPE‟s Edit toolbar 32
Image 3.14: SIMSCAPE‟s Find Window 33
Image 3.15: SIMSCAPE‟s View Window 34
Image 3.16: SIMSCAPE‟s Requirements Window 35
Image 3.17: SIMSCAPE‟s Requirements Settings Window 36
Image 3.18: SIMSCAPE‟s Library Browser Window 37
Image 3.19: SIMSCAPE‟s Model Explorer Window 37
Image 3.20: SIMSCAPE‟s Help Window 38
Image 3.21: SIMSCAPE‟s Help Window 39
Image 3.22: SIMSCAPE‟s Blocks Window 39
Image 3.23: SIMSCAPE‟s Shortcuts Window 40
Image 3.24: SIMSCAPE‟s S-Functions Window 40
Image 3.25: SIMSCAPE‟s Demos Window 41
Image 4.1: SIMSCAPE‟s Foundation Library 43
Image 4.2: SIMSCAPE‟s Foundation Library 43
Image 4.3: SIMSCAPE‟s Electrical Models 44
Image 4.4: SIMSCAPE‟s Electrical Elements 44
Image 4.5: SIMSCAPE‟s Electrical Sensors 45
Image 4.6: SIMSCAPE‟s Electrical Sources 46
Image 4.7: SIMSCAPE‟s Hydraulic Models 46
Image 4.8: SIMSCAPE‟s Hydraulic Elements 47
Image 4.9: SIMSCAPE‟s Hydraulic Sensors 48
Image 4.10: SIMSCAPE‟s Hydraulic Sources 48
Image 4.11: SIMSCAPE‟s Hydraulic Utilities 49
Image 4.12: SIMSCAPE‟s Magnetic Models 49
Image 4.13: SIMSCAPE‟s Magnetic Elements 50
Image 4.14: SIMSCAPE‟s Magnetic Sensors 50
Image 4.15: SIMSCAPE‟s Magnetic Sensors 51
Image 4.16: SIMSCAPE‟s Mechanical Models 51

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Image 4.17: SIMSCAPE‟s Mechanical Sensors 52

Image 4.18: SIMSCAPE‟s Mechanical Sources 52
Image 4.19: SIMSCAPE‟s Mechanisms 53
Image 4.20: SIMSCAPE‟s Rotational Elements 53
Image 4.21: SIMSCAPE‟s Translational Elements 54
Image 4.22: SIMSCAPE‟s Physical Signals 54
Image 4.23: SIMSCAPE‟s Functions(Physical Signals) 55
Image 4.24: SIMSCAPE‟s Linear Operators 55
Image 4.25: SIMSCAPE‟s Lookup Tables 56
Image 4.26: SIMSCAPE‟s Nonlinear Operators(Physical Signals) 56
Image 4.27: SIMSCAPE‟s Sources(Physical Signals) 57
Image 4.28: SIMSCAPE‟s Pneumatic Models 58
Image 4.29: SIMSCAPE‟s Pneumatic Elements 58
Image 4.30: SIMSCAPE‟s Pneumatic Sensors 59
Image 4.31: SIMSCAPE‟s Pneumatic Sources 59
Image 4.32: SIMSCAPE‟s Pneumatic Utilities 60
Image 4.33: SIMSCAPE‟s Thermal Models 60
Image 4.34: SIMSCAPE‟s Thermal Elements 61
Image 4.35: SIMSCAPE‟s Thermal Sensors 61
Image 4.36: SIMSCAPE‟s Thermal Sources 62
Image 4.37: SIMSCAPE‟s SimDriveline 62
Image 4.38: SIMSCAPE‟s Foundation Library 63
Image 4.39: SIMSCAPE‟s SimDriveline Brakes & Detents 63
Image 4.40: SIMSCAPE‟s SimDriveline Brakes & Detents, rotational and
translational Friction 63
Image 4.41: SIMSCAPE‟s SimDriveline Clutches 64
Image 4.42: SIMSCAPE‟s SimDriveline Clutches Fundamental Component
65
Image 4.43: SIMSCAPE‟s SimDriveline Couplings & Drives 65
Image 4.44: SIMSCAPE‟s SimDriveline Engines 66
Image 4.45: SIMSCAPE‟s SimDriveline Gears 66
Image 4.46: SIMSCAPE‟s SimDriveline Planetary Subcomponents(Gear) 67
Image 4.47: SIMSCAPE‟s SimDriveline Rotational-Translational(Gears) 68
Image 4.48: SIMSCAPE‟s SimDriveline Tires & Vehicles 69
Image 4.49: SIMSCAPE‟s SimDriveline Tire Components 69
Image 4.50: SIMSCAPE‟s SimElectronics 70
Image 4.51: SIMSCAPE‟s SimElectronics 70
Image 4.52: SIMSCAPE‟s SimElectronics Actuators & Drivers 70
Image 4.53: SIMSCAPE‟s SimElectronics Drivers 71
Image 4.54: SIMSCAPE‟s SimElectronics Rotational Actuators 71
Image 4.55: SIMSCAPE‟s SimElectronics Translational Actuators 72
Image 4.56: SIMSCAPE‟s SimElectronics Integrated Circuits 73
Image 4.57: SIMSCAPE‟s SimElectronics Logic 74
Image 4.58: SIMSCAPE‟s SimElectronics Passive Devices 74

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Image 4.59: SIMSCAPE‟s SimElectronics Semiconductor Devices 75

Image 4.60: SIMSCAPE‟s SimElectronics Sensors 76
Image 4.61: SIMSCAPE‟s SimElectronics Sources 77
Image 4.62: SIMSCAPE‟s SimHydraulics 78
Image 4.63: SIMSCAPE‟s SimHydraulics 78
Image 4.64: SIMSCAPE‟s SimHydraulics Accumulators 79
Image 4.65: SIMSCAPE‟s SimHydraulics Hydraulic Cylinders 79
Image 4.66: SIMSCAPE‟s SimHydraulics Hydraulic Utilities 80
Image 4.67: SIMSCAPE‟s SimHydraulics Local Hydraulic Resistances 81
Image 4.68: SIMSCAPE‟s SimHydraulics Low-Pressure Blocks 81
Image 4.69: SIMSCAPE‟s SimHydraulics Orifices 82
Image 4.70: SIMSCAPE‟s SimHydraulics Pipelines 83
Image 4.71: SIMSCAPE‟s SimHydraulics Pumps and Motors 84
Image 4.72: SIMSCAPE‟s SimHydraulics Valves 85
Image 4.73: SIMSCAPE‟s SimHydraulics Directional Valves 85
Image 4.74: SIMSCAPE‟s SimHydraulics Flow Control Valves 87
Image 4.75: SIMSCAPE‟s SimHydraulics Pressure Control Valves 87
Image 4.76: SIMSCAPE‟s SimHydraulics Valve Actuators 88
Image 4.77: SIMSCAPE‟s SimHydraulics Valve Forces 89
Image 4.78: SIMSCAPE‟s SimMechanics 90
Image 4.79: SIMSCAPE‟s SimMechanics 90
Image 4.80: SIMSCAPE‟s SimMechanics Bodies 90
Image 4.81: SIMSCAPE‟s SimMechanics Assembled Joints 91
Image 4.82: SIMSCAPE‟s SimMechanics Disassembled Joints 93
Image 4.83: SIMSCAPE‟s SimMechanics Massless Connectors 94
Image 4.84: SIMSCAPE‟s SimMechanics Constraints & Drivers 95
Image 4.85: SIMSCAPE‟s SimMechanics Sensors & Actuators 96
Image 4.86: SIMSCAPE‟s SimMechanics Force Elements 97
Image 4.87: SIMSCAPE‟s SimMechanics Interface Elements 97
Image 4.88: SIMSCAPE‟s SimMechanics Utilities 98
Image 4.89: SIMSCAPE‟s Utilities 99
Image 4.90: SIMSCAPE‟s Utilities 99
Image 5.1: Thermal Resistor code 103
Image 5.2: Block Parameters: R Therm 104
Image 6.1: Results explorer download page 105
Image 6.2: simscape_logging.zip 106
Image 6.3: simscape_logging.zip extraction 106
Image 6.4: Matlab Path for simulation data 108
Image 6.5: Matlab path verification 109
Image 6.6: Running ssc_dcmotor 109
Image 6.7: ssc_dcmotor model 110
Image 6.8: ssc_dcmotor subsystem 110
Image 6.9: Configuration Parameters 111
Image 6.10: Configuration Parameters 112

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Image 6.11: Simscape data logging explorer 113

Image 6.12: Motor Current Scope 113
Image 6.13: Load Torque 114
Image 6.14: Pneumatic Motor 115
Image 6.15: Dynamometer Subsystem 116
Image 6.16: Pneumatic Motor Scopes 116
Image 6.17: Pneumatic Motor Pressure Sources 117
Image 6.18: DC Motor 117
Image 6.19: DC Motor model 118
Image 6.20: Current Folder for Simulation data 118
Image 6.21: ssc_new command 119
Image 6.22: Opening the Library Browser 119
Image 6.23: Library Browser Search 120
Image 6.24: Adding the DC Voltage Source 121
Image 6.25: Adding a resistor 121
Image 6.26: Adding a Rotational Electromechanical Converter 122
Image 6.27: Adding an Inductor 122
Image 6.28: Adding an Electrical Reference 123
Image 6.29: Creating physical connections 123
Image 6.30: Adding Mechanical Rotational Reference 124
Image 6.31: Adding Inertia to the shaft 125
Image 6.32: Adding and connecting a Rotational Damper 126
Image 6.33: Adding and connecting a Wheel and Axle 127
Image 6.34: Adding and connecting a Translational Spring 127
Image 6.35: Adding and connecting a Mechanical Translational Reference 128
Image 6.36: Simulation data logging 129
Image 6.37: Starting the Simulation 129
Image 6.38: Simulation Data 130
Image 6.39: Simulation Data 131
Image 6.40: Simulation Data 132
Image 6.41: Changing the Spring rate 132
Image 6.42: Reloading logged data 133
Image 6.43: Simulink Scope connection 134
Image 6.44: Changing the output signal unit 134
Image 6.45: Simulink Scope 135

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ARRAY CATALOGUE
Array 4.1: Electrical Elements 45
Array 4.2: Electrical Sensors 45
Array 4.3: Electrical Sources 46
Array 4.4: Hydraulic Elements 47
Array 4.5: Hydraulic Sensors 48
Array 4.6: Hydraulic Sources 48
Array 4.7: Hydraulic Utilities 49
Array 4.8: Magnetic Elements 50
Array 4.9: Magnetic Sensors 50
Array 4.10: Magnetic Sources 51
Array 4.11: Mechanical Sensors 52
Array 4.12: Mechanical Sources 52
Array 4.13: Mechanisms 53
Array 4.14: Rotational Elements 53
Array 4.15: Translational Elements 54
Array 4.16: Functions(Physical Signals) 55
Array 4.17: Linear Operators 56
Array 4.18: Lookup Tables 56
Array 4.19: Nonlinear Operators(Physical Signals) 57
Array 4.20: Sources(Physical Signals) 57
Array 4.21: Pneumatic Elements 58
Array 4.22: Pneumatic Sensors 59
Array 4.23: Pneumatic Sources 60
Array 4.24: Pneumatic Utilities 60
Array 4.25: Thermal Elements 61
Array 4.26: Thermal Sensors 61
Array 4.27: Thermal Sources 62
Array 4.28: Thermal Sources 64
Array 4.29: SimDriveline Clutches 64
Array 4.30: SimDriveline Fundamental Friction Clutch 65
Array 4.31: SimDriveline Couplings & Drives 65
Array 4.32: SimDriveline Engines 66
Array 4.33: SimDriveline Gears 67
Array 4.34: SimDriveline Planetary Subcomponents(Gear) 68
Array 4.35: SimDriveline Rotational-Translational(Gears) 68
Array 4.36: SimDriveline Tires & Vehicles 69
Array 4.37: SimDriveline Tire Components 69
Array 4.38: SimElectronics Drivers 71
Array 4.39: SimElectronics Rotational Actuators 72
Array 4.40: SimElectronics Translational Actuators 73
Array 4.41: SimElectronics Integrated Circuits 73
Array 4.42: SimElectronics Logic 74

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Array 4.43: SimElectronics Passive Devices 75

Array 4.44: SimElectronics Semiconductor Devices 76
Array 4.45: SimElectronics Sensors 77
Array 4.46: SimElectronics Sources 77
Array 4.47: SimHydraulics Accumulators 79
Array 4.48: SimHydraulics Hydraulic Cylinders 80
Array 4.49: SimHydraulics Hydraulic Utilities 80
Array 4.50: SimHydraulics Local Hydraulic Resistances 81
Array 4.51: SimHydraulics Low-Pressure Blocks 82
Array 4.52: SimHydraulics Orifices 83
Array 4.53: SimHydraulics Pipelines 83
Array 4.54: SimHydraulics Pumps and Motors 84
Array 4.55: SimHydraulics Directional Valves 86
Array 4.56: SimHydraulics Flow Control Valves 87
Array 4.57: SimHydraulics Pressure Control Valves 88
Array 4.58: SimHydraulics Valve Actuators 88
Array 4.59: SimHydraulics Valve Forces 89
Array 4.60: SimMechanics Bodies 90
Array 4.61: SimMechanics Assembled Joints 92
Array 4.62: SimMechanics Disassembled Joints 93
Array 4.63: SimMechanics Massless Connectors 94
Array 4.64: SimMechanics Constraints & Drivers 95
Array 4.65: SimMechanics Sensors & Actuators 96
Array 4.66: SimMechanics Force Elements 97
Array 4.67: SimMechanics Interface Elements 98
Array 4.68: SimMechanics Utilities 98
Array 4.69: Simscape Utilities 99
Array 6.1: Simscape Demos 108

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ABBREVIATIONS
OS: Operating System

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CHAPTER 1

INTRODUCTION

Ever since the discovery of computers there has been massive advancement in
technology, engineering, physics and countless other domains. Life has been
made easier, most of the products we use today were developed by using
computers. What that means is that in order for a new product to hit the market
there is a whole process behind it. First there is the designing process in which an
idea for a product is converted into a representation of a physical system. Next is
the simulation of this system in order to test the design, see how it reacts against
factors like wind, gravity, etc. Computer simulations are a very powerful and useful
tool, they can be either small-scale running very fast in small devices for a limited
period of time or they can be large-scale running for days using extreme
computing power.
Computer software combines the design of a model and its simulation. [1] A
software company called MathWorks specializes in mathematical computing and
their major products are MATLAB and Simulink which support data analysis and
simulation. Simulink is a graphical and simulation environment for Model-Based
Design. They are both used in automotive, aerospace, software and countless
other fields. Simscape is a package available through Simulink.
[2] Simscape gives users the ability to create models of physical systems by
building physical component models based on physical connections that directly
integrate with block diagrams and other modeling paradigms. By assembling
fundamental components into a schematic users can model systems and run
simulations. We can test these systems on system-level performance. A great
feature of Simscape is the Simscape Language where users can create their own
custom components. Users can alter the parameters of the models using
MATLAB variables and expressions. Also there is support for cross-platform
simulation environments by C-code generation.

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CHAPTER 2

MATLAB

2.1 What is MATLAB?

[3] MATLAB(matrix laboratory) is a multi-paradigm numerical computing

environment. It is a high performance programming language written in C, C++,
Java developed by MathWorks. It integrates computation, visualization and
programming in an easy-to-use environment where problems and solutions are
expressed in familiar mathematical notation. MATLAB allows matrix
manipulations, plotting of functions and data, implementation of algorithms,
creation of user interfaces, and interfacing with programs written in other
languages, including C, C++, C#, Java, Fortran and Python. Its multi-functionality
and endless applications have made MATLAB extremely popular across the
industry and academia.

2.2 History of MATLAB

MATLAB was developed in the late 1970‟s by Cleve Moler, chairman of the
computer science department at the UNM(University of New Mexico). The idea
behind it‟s development was to give his students access to LINPACK and
EISPACK without them having to learn Fortran. Many universities started to
acknowledge the power of MATLAB and started using it, mainly the applied
mathematics community. After Moler‟s visit to Stanford, an engineer named Jack
Little, recognized the commercial potential of MATLAB. He then joined with Moler
and Steve Bengert, they rewrote MATLAB in C and founded MathWorks in 1984.

2.3 MATLAB’s evolution

At first, MATLAB was used by researchers and practitioners in control

engineering. Over the years MATLAB has evolved with input from many users. In
university environments, it is the standard instructional tool for introductory and
advanced courses in mathematics, engineering, and science. In industry,
MATLAB is the tool of choice for high-productivity research, development, and
analysis. It is also used in image processing.

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2.4 MATLAB Breakdown

[4] The MATLAB system consists of five main parts :

i) The MATLAB language

This is a high-level matrix/array language with control flow statements,

functions, data structures, input/output, and object-oriented programming features.
It allows both "programming in the small" to rapidly create quick and dirty throw-
away programs, and "programming in the large" to create complete large and
complex application programs.

ii)The MATLAB working environment

This is the set of tools and facilities that you work with as the MATLAB user or
programmer. It includes facilities for managing the variables in your workspace
and importing and exporting data. It also includes tools for developing, managing,
debugging, and profiling M-files, MATLAB's applications.

iii)Handle Graphics

This is the MATLAB graphics system. It includes high-level commands for two-
dimensional and three-dimensional data visualization, image processing,
animation, and presentation graphics. It also includes low-level commands that
allow you to fully customize the appearance of graphics as well as to build
complete Graphical User Interfaces on your MATLAB applications.

iv)The MATLAB mathematical function library

This is a vast collection of computational algorithms ranging from elementary

functions like sum, sine, cosine, and complex arithmetic, to more sophisticated
functions like matrix inverse, matrix eigenvalues, Bessel functions, and fast
Fourier transforms.

v)The MATLAB Application Program Interface (API)

This is a library that allows you to write C and Fortran programs that interact
with MATLAB. It include facilities for calling routines from MATLAB (dynamic
linking), calling MATLAB as a computational engine, and for reading and writing
MAT-files.

2.5 MATLAB Interface

MATLAB‟s user interface is easy-to-use. The core of each version is very similar
to each other. It looks like this.

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Image 2.1: MATLAB‟s User Interface

At the top left corner there is a menu bar consisting of File, Edit, View, Debug,
Parallel, Desktop, Window, Help. Below that, there is the MATLAB Toolbar and
below that the Shortcuts Toolbar. In the Current folder section users can
navigate wherever in the file system of the OS in order to access files, usually m-
files. The main window is the Command Window in which the user types the
code. Whenever a command is written which stores values, it can be found and
accessed in the Workspace Window. Last, there is a Command History
window. Each and any window can be minimized, maximized, docked, undocked
or closed.

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CHAPTER 3

SIMSCAPE

3.1 What is SIMSCAPE?

[5] SIMSCAPE is a toolbox for physical modeling developed by MathWorks for

SIMULINK. It has been available since version R2007A of the MATLAB suite. It
includes a foundation library, which contains basic components for electrical,
hydraulic, magnetic, mechanical, physical signals, Pneumatic and thermal
systems. There are also more specialized toolboxes for physical modeling such as
SimDriveline, SimElectronics, SimHydraulics and SimMechanics that now are
considered as parts of the Simscape product family although some of them had
been around before Simscape. In R2008b, a major upgrade of Simscape was
made, introducing the Simscape language which allows the user to create their
own physical models, and even new physical domains, with new conserving ports.
The language is based on MATLAB syntax. Simscape distinguishes between the
variables as: Through Variables that are measured with a gauge connected in
series to an element. Across Variables that are measured with a gauge connected
in parallel to an element.

3.2 Getting to know SIMSCAPE

In order to run SIMSCAPE, start MATLAB and type “simscape” in the MATLAB
Command Window.

Image 3.1: MATLAB‟s Command Window

When that is done, SIMSCAPE is going to run and will be ready for use.

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Image 3.2: SIMSCAPE‟s Interface

SIMSCAPE’s Toolbar

The menu bar consists of File, Edit, View, Format and Help

Image 3.3: SIMSCAPE‟s Toolbar

Let‟s take a closer look at the File option.

Image 3.4: SIMSCAPE‟s File toolbar

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By selecting New -> you get two options. You can create a new model or a new
library

Image 3.5: SIMSCAPE‟s New Model Window

Image 3.6: SIMSCAPE‟s New Library Window

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By selecting Open(Ctrl+O) you can load a previous model or library that is

saved on your computer.

Close(Ctrl+W) terminates SIMSCAPE. In order to load SIMSCAPE again, type

“simscape” at the MATLAB Command Window.

Save(Ctrl+S) and Save as give you the option to save your work as a .mdl file
which is a Simulink Model extension.

Model Properties dialog box allows you to set various version control
parameters and model callback functions.

Image 3.7: SIMSCAPE‟s Model Properties

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Preferences tab opens up Simulink‟s preferences where you can change the
display, fonts etc.

Image 3.8: Simulink‟s Preferences

Export to Web… You can export a model to a Web view using either a Simulink
Report Generator dialog box or a Report Explorer panel.

Image 3.9: SIMSCAPE‟s Export to Web

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Reports -> System Design Description Here you can choose options for the
content, format, and location of the generated System Design Description report.
To customize the report template, click the Customize button to open the report in
the Report Explorer.

Image 3.10: SIMSCAPE‟s Design Description

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Reports-> Design Requirements opens up a Requirements Report for

simscape.

Print(Ctrl+P) allows you to print the Models with multiple options.

Image 3.11: SIMSCAPE‟s Print

Print Setup allows you customize the print options.

Image 3.12: SIMSCAPE‟s Print Setup

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Enable Tiled Printing By default, each block diagram is scaled during the printing
process so that it fits on a single page. In the case of a large diagram, this automatic
scaling can make the printed image difficult to read.
Tiled printing enables you to print even the largest block diagrams without
sacrificing clarity and detail. Tiled printing allows you to distribute a block diagram
over multiple pages. For example, you can use tiling to divide a model as shown
in the figure, with each white box and each gray box representing a separate
printed page.

Exit MATLAB(Ctrl+Q) closes SIMSCAPE and Matlab.

Now let‟s take a look at the Edit section.

Image 3.13: SIMSCAPE‟s Edit toolbar

Undo(Ctrl+Z) Undoes the last command.

Redo(Ctrl+Y) Redoes the last command.

Cut(Ctrl+X) Cuts the selected components.

Copy(Ctrl+C) Copies the selected components.

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Paste(Ctrl+V) Pastes the copied/cat components.

Paste Duplicate Inport -> Pastes duplicates of an Inport block.

Select All(Ctrl+A) Selects every component.

Copy Model to Clipboard -> Copies the entire model

Find…(Ctrl+F) Opens up a search window

Image 3.14: SIMSCAPE‟s Find Window

Create Subsystem(Ctrl+G) Subsystems allow the creation of a hierarchical

model of many layers.

Mask Subsystem(Ctrl+M) Masks a subsystem.

Look Under Mask(Ctrl+U) Shows what is beneath a Mask.

Unlock Library -> Unlocks the Library.

Links and Model Blocks -> Refreshes the Model in case of additions not
showing in model.(Ctrl+K)

Update Diagram(Ctrl+D) Updates the currently selected Diagram.

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View Section

Image 3.15: SIMSCAPE‟s View Window

Back -> Goes to the previous selection

Forward -> Goes to the next selection
Go To Parent -> Goes to the source
Toolbar -> Shows/Hides the toolbar
Status Bar ->Shows/Hides the status bar
Model Browser Options Shows/Hides:
->Model Browser
->Show library links
->Show Masked subsystems
Block Data Tips Options Shows/Hides:
->Block Name
->Parameter Names And Values
->User Description String

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Requirements
Add link to Word Selection -> Outputs to word file
Add link to active Excel cell-> Outputs to excel cell
Edit/Add Links… :

Image 3.16: SIMSCAPE‟s Requirements Window

In this window you can edit the Requirements for each model.

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Settings…

Image 3.17: SIMSCAPE‟s Requirements Settings Window

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Library Browser

Image 3.18: SIMSCAPE‟s Library Browser Window

Model Explorer(Ctrl+H)

Image 3.19: SIMSCAPE‟s Model Explorer Window

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Sample Time Legend(Ctrl+J) ->

MATLAB Desktop -> Shows MATLAB
Zoom In -> Zooms In
Zoom Out -> Zooms Out
Fit System To View -> Fits the window
Normal(100%)
Show Page Boundaries -> Shows Page Boundaries
Post Values -> Shows the value of the components
Remove Highlighting -> Removes highlighting
Highlight… -> Highlights a selection

Help Section

Image 3.20: SIMSCAPE‟s Help Window

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Using Simulink

Image 3.21: SIMSCAPE‟s Help Window

Blocks

Image 3.22: SIMSCAPE‟s Blocks Window

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Blocksets -> Brings up a list of Blocksets to chose from.

Block Support Table

Shortcuts

Image 3.23: SIMSCAPE‟s Shortcuts Window

S-Functions

Image 3.24: SIMSCAPE‟s S-Functions Window

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Demos

Image 3.25: SIMSCAPE‟s Demos Window

Terms of Use -> Shows the Software License Aggreement.

Patents… -> Shows MATLAB‟s Patents.
About Simulink -> Shows information about the Software.

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CHAPTER 4

SIMSCAPE COMPONENTS

4.1 Foundation Library

Contains basic hydraulic, mechanical, electrical, magnetic, thermal, thermal

liquid, two-phase fluid, gas, and physical signal blocks, organized into sublibraries
according to technical discipline and function performed

Image 4.1: SIMSCAPE‟s Foundation Library

Image 4.2: SIMSCAPE‟s Foundation Library

4.1.1 Electrical Models

Let‟s take a closer look at the Electrical Models.

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Image 4.3: SIMSCAPE‟s Electrical Models

Electrical Elements: Electrical building blocks, such as inductors, diodes,

capacitors.

Image 4.4: SIMSCAPE‟s Electrical Elements

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[6]

Capacitor Linear Capacitor in electrical systems

Diode Piecewise linear diode in electrical
systems
Electrical Reference Connection to electrical ground
Gyrator Ideal gyrator in electrical systems
Ideal Transformer Ideal transformer in electrical systems
Inductor Linear inductor in electrical systems
Mutual Inductor Mutual inductor in electrical systems
Op-Amp Ideal operational amplifier
Resistor Linear resistor in electrical systems
Rotational Electromechanical Converter Interface between electrical and
mechanical rotational domains
Switch Switch controlled by external physical
signal
Translational Electromechanical Interface between electrical and
Converter mechanical translational domains
Variable Resistor Linear variable resistor in electrical
systems

Array 4.1: Electrical Elements

Electrical Sensors: Current and voltage sensor blocks.

Image 4.5: SIMSCAPE‟s Electrical Sensors

Current Sensor Current sensor in electrical systems

Voltage Sensor Voltage sensor in electrical systems

Array 4.2: Electrical Sensors

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Electrical Sources: Current and voltage source blocks.

Image 4.6: SIMSCAPE‟s Electrical Sources

AC Current Source Ideal sinusoidal current source

AC Voltage Source Ideal constant voltage source
Controlled Current Source Ideal current source driven by input
signal
Controlled Voltage Source Ideal voltage source driven by input
signal
Current-Controlled Current Source Linear current-controlled current source
Current-Controlled Voltage Source Linear current-controlled voltage source
DC Current Source Ideal constant current source
DC Voltage Source Ideal constant voltage source
Voltage-Controlled Current Source Linear voltage-controlled current source
Voltage-Controlled Voltage Source Linear voltage-controlled voltage source

Array 4.3: Electrical Sources

4.1.2 Hydraulic Models

Let‟s take a closer look at the Hydraulic Models.

Image 4.7: SIMSCAPE‟s Hydraulic Models

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Hydraulic Elements: Hydraulic building blocks, such as orifices, chambers,

hydro-mechanical converters.

Image 4.8: SIMSCAPE‟s Hydraulic Elements

Constant Area Hydraulic Orifice Hydraulic orifice with constant cross-

sectional area
Constant Volume Hydraulic Chamber Hydraulic capacity of constant volume
Fluid Inertia Pressure differential across tube or
channel due to change in fluid velocity
Hydraulic Piston Chamber Variable volume hydraulic capacity in
cylinders
Hydraulic Reference Connection to atmospheric pressure
Hydraulic Resistive Tube Hydraulic pipeline which accounts for
friction losses only
Linear Hydraulic Resistance Hydraulic element for setting initial
pressure difference between two nodes
Rotational Hydro-Mechanical Converter Interface between hydraulic and
mechanical rotational domains
Translational Hydro-Mechanical Interface between hydraulic and
Converter mechanical translational domains
Variable Area Hydraulic Orifice Hydraulic variable orifice created by
cylindrical spool and sleeve
Variable Hydraulic Chamber Hydraulic capacity of variable volume
with compressible fluid

Array 4.4: Hydraulic Elements

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Hydraulic Sensors: Hydraulic flow rate and pressure sensor blocks.

Image 4.9: SIMSCAPE‟s Hydraulic Sensors

Hydraulic Flow Rate Sensor Ideal flow meter

Hydraulic Pressure Sensor Ideal pressure sensing device

Array 4.5: Hydraulic Sensors

Hydraulic Sources: Hydraulic flow rate and pressure source blocks.

Image 4.10: SIMSCAPE‟s Hydraulic Sources

Hydraulic Constant Flow Rate Source Ideal source of hydraulic energy,

characterized by constant flow rate
Hydraulic Constant Pressure Source Ideal source of hydraulic energy,
characterized by constant pressure
Hydraulic Flow Rate Source Ideal source of hydraulic energy,
characterized by flow rate
Hydraulic Pressure Source Ideal source of hydraulic energy,
characterized by pressure

Array 4.6: Hydraulic Sources

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Hydraulic Utilities: Basic hydraulic environment blocks, such as custom hydraulic

fluid.

Image 4.11: SIMSCAPE‟s Hydraulic Utilities

Custom Hydraulic Fluid Working fluid properties, set by

specifying parameter values

Array 4.7: Hydraulic Utilities

4.1.3 Magnetic Models

Let‟s take a closer look at the Magnetic Models.

Image 4.12: SIMSCAPE‟s Magnetic Models

Magnetic Elements: Magnetic building blocks, such as reluctances,

electromagnetic converters, actuators.

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Image 4.13: SIMSCAPE‟s Magnetic Elements

Electromagnetic Converter Lossless electromagnetic energy

conversion device
Magnetic Reference Reference connection for magnetic
ports
Reluctance Magnetic reluctance
Reluctance Force Actuator Magnetomotive device based on
reluctance force
Variable Reluctance Variable reluctance in electromagnetic
systems

Array 4.8: Magnetic Elements

Magnetic Sensors: Flux and mmf sensor blocks.

Image 4.14: SIMSCAPE‟s Magnetic Sensors

Flux Sensor Ideal flux sensor

MMF Sensor Ideal magnetomotive force sensor

Array 4.9: Magnetic Sensors

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Magnetic Sources: Flux and mmf source blocks.

Image 4.15: SIMSCAPE‟s Magnetic Sensors

Controlled Flux Source Ideal flux source driven by input signal

Controlled MMF Source Ideal magnetomotive force source
driven by input signal
Flux Source Ideal flux source
MMF Source Ideal magnetomotive force source

Array 4.10: Magnetic Sources

4.1.4 Mechanical Models

Let‟s take a closer look at the Mechanical Models.

Image 4.16: SIMSCAPE‟s Mechanical Models

Mechanical Sensors: Rotational and translational motion, torque,

force sensor blocks

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Image 4.17: SIMSCAPE‟s Mechanical Sensors

Ideal Force Sensor Force sensor in mechanical

translational systems
Ideal Rotational Motion Sensor Motion sensor in mechanical rotational
systems
Ideal Torque Sensor Torque sensor in mechanical rotational
systems
Ideal Translational Motion Sensor Motion sensor in mechanical
translational systems

Array 4.11: Mechanical Sensors

Mechanical Sources: Angular and translational velocity, torque, force source

blocks.

Image 4.18: SIMSCAPE‟s Mechanical Sources

Ideal Angular Velocity Source Ideal angular velocity source in

mechanical rotational systems
Ideal Force Source Ideal source of mechanical energy that
generates force proportional to the input
signal
Ideal Torque Source Ideal source of mechanical energy that
generates torque proportional to the
input signal
Ideal Translational Velocity Source Ideal velocity source in mechanical
translational systems

Array 4.12: Mechanical Sources

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Mechanisms: Simple mechanisms, such as gear box, lever, wheel and axle.

Image 4.19: SIMSCAPE‟s Mechanisms

Gear Box Gear box in mechanical systems

Lever Generic mechanical lever
Wheel and Axle Wheel and axle mechanism in
mechanical systems

Array 4.13: Mechanisms

Rotational Elements: Mechanical building blocks for rotational motion.

Image 4.20: SIMSCAPE‟s Rotational Elements

Inertia Ideal mechanical rotational inertia

Mechanical Rotational Reference Reference connection for mechanical
rotational ports
Rotational Damper Viscous damper in mechanical
rotational systems
Rotational Friction Friction in contact between rotating
bodies
Rotational Hard Stop Double-sided rotational hard stop
Rotational Spring Ideal spring in mechanical rotational
systems

Array 4.14: Rotational Elements

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Translational Elements: Mechanical building blocks for translational motion.

Image 4.21: SIMSCAPE‟s Translational Elements

Mass Ideal mechanical translational mass

Mechanical Translational Reference Reference connection for mechanical
translational ports
Translational Friction Friction in contact between moving
bodies
Translational Damper Viscous damper in mechanical
translational systems
Translational Hard Stop Double-sided translational hard stop
Translational Spring Ideal spring in mechanical translational
systems

Array 4.15: Translational Elements

4.1.5 Physical Signals Models

Let‟s take a closer look at the Signals Models.

Image 4.22: SIMSCAPE‟s Physical Signals

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Functions: Blocks that perform math operations on physical signals

Image 4.23: SIMSCAPE‟s Functions(Physical Signals)

PS Add Add two physical signal inputs

PS Divide Compute simple division of two input
physical signals
PS Gain Multiply input physical signal by
constant
PS Math Function Apply mathematical function to input
physical signal
PS Product Multiply two physical signal inputs
PS Subtract Compute simple subtraction of two
input psysical signals

Array 4.16: Functions(Physical Signals)

Linear Operators: Blocks that simulate continuous-time functions for physical

signals.

Image 4.24: SIMSCAPE‟s Linear Operators

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PS Integrator Integrate physical signal

Array 4.17: Linear Operators

Lookup Tables: Blocks that perform table lookup to generate physical signals

Image 4.25: SIMSCAPE‟s Lookup Tables

PS Lookup Table(1D) Approximate one-dimensional function

using specified lookup method
PS Lookup Table(2D) Approximate two-dimensional function
using specified lookup method

Array 4.18: Lookup Tables

Nonlinear Operators: Blocks that simulate discontinuities, such as saturation or

dead zone, for physical signals

Image 4.26: SIMSCAPE‟s Nonlinear Operators(Physical Signals)

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PS Abs Output absolute value of input physical

signal
PS Ceil Output the smallest integer larger than
or equal to input physical signal
PS Dead Zone Provide region of zero output for
physical signals
PS Fix Round input physical signal toward zero
PS Floor Output the largest integer smaller than
or equal to input physical signal
PS Max Output maximum of two input physical
signals
PS Min Output minimum of two input physical
signals
PS Saturation Limit range of physical signal
PS Sign Output sign of input physical signal
PS Switch Single-pole double-throw switch
controlled by external physical signal

Array 4.19: Nonlinear Operators(Physical Signals)

Sources: Blocks that simulate physical signal sources.

Image 4.27: SIMSCAPE‟s Sources(Physical Signals)

PS Constant Generate constant physical signal

Array 4.20: Sources(Physical Signals)

4.1.6 Pneumatic Models

Let‟s take a closer look at the Pneumatic Models.

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Image 4.28: SIMSCAPE‟s Pneumatic Models

Pneumatic Elements: Pneumatic building blocks.

Image 4.29: SIMSCAPE‟s Pneumatic Elements

Adiabatic Cup Thermal element with no thermal mass

and perfect insulation
Constant Area Pneumatic Orifice Sharp-edged orifice in pneumatic
systems
Constant Area Pneumatic Orifice(ISO Fixed-area pneumatic orifice complying
6358) with ISO 6358 standard
Constant Volume Pneumatic Chamber Constant volume pneumatic chamber
based on ideal gas law
Pneumatic Atmospheric Reference Reference connection to ambient
pressure and temperature for
pneumatic ports
Pneumatic Absolute Reference Reference connection to zero absolute
pressure and temperature for
pneumatic ports
Pneumatic Piston Chamber Translational pneumatic piston chamber
based on ideal gas law
Pneumatic Resistive Tube Pneumatic pipe accounting for pressure
loss and added heat due to flow
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resistance
Rotary Pneumatic Chamber Rotational pneumatic piston chamber
based on ideal gas law
Rotational Pneumatic-Mechanical Interface between pneumatic and
Converter mechanical rotational domains
Variable Area Pneumatic Orifice Sharp-edged variable-area orifice in
pneumatic systems

Array 4.21: Pneumatic Elements

Pneumatic Sensors: Pneumatic sensor blocks.

Image 4.30: SIMSCAPE‟s Pneumatic Sensors

Pneumatic Mass & Heat Flow Sensor Ideal mass flow and heat flow sensor
Pneumatic Pressure & Temperature Ideal pressure and temperature sensor
Sensor

Array 4.22: Pneumatic Sensors

Pneumatic Sources: Pneumatic pressure and flow rate sources.

Image 4.31: SIMSCAPE‟s Pneumatic Sources

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Controlled Pneumatic Flow Rate Ideal compressor with signal-controlled

Source mass flow rate
Controlled Pneumatic Pressure Source Ideal compressor with signal-controlled
pressure difference
Pneumatic Flow Rate Source Ideal compressor with constant mass
flow rate
Pneumatic Pressure Source Ideal compressor with constant
pressure difference

Array 4.23: Pneumatic Sources

Pneumatic Utilities: Basic pneumatic environment blocks, such as Gas

properties.

Image 4.32: SIMSCAPE‟s Pneumatic Utilities

Gas Properties Global gas properties for attached

circuit

Array 4.24: Pneumatic Utilities

4.1.7 Thermal Models

Let‟s take a closer look at the Thermal Models.

Image 4.33: SIMSCAPE‟s Thermal Models

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Thermal Elements: Thermal building blocks, such as thermal mass, various heat
transfer blocks.

Image 4.34: SIMSCAPE‟s Thermal Elements

Conductive Heat Transfer Heat transfer by conduction

Convective Heat Transfer Heat transfer by convection
Radiative Heat Transfer Heat transfer by radiation
Thermal Mass Mass in thermal systems
Thermal Reference Reference connection for thermal ports

Array 4.25: Thermal Elements

Thermal Sensors: Temperature and heat flow rate sensor blocks.

Image 4.35: SIMSCAPE‟s Thermal Sensors

Ideal Heat Flow Sensor Ideal heat flow meter

Ideal Temperature Sensor Ideal temperature sensor

Array 4.26: Thermal Sensors

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Thermal Sources: Temperature and heat flow rate source blocks.

Image 4.36: SIMSCAPE‟s Thermal Sources

Ideal Heat Flow Source Constant source of thermal energy,

characterized by heat flow
Ideal Temperature Source Constant source of thermal energy,
characterized by temperature

Array 4.27: Thermal Sources

4.2 SimDriveline

Driveline modeling employs a physical network approach, where Simscape

blocks correspond to physical elements, such as clutches, gears, and
transmissions. The lines that connect these blocks correspond to the physical
connections that transmit power. The resulting models let you describe the
physical structure of a system, rather than the underlying mathematics.

Image 4.37: SIMSCAPE‟s SimDriveline

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Image 4.38: SIMSCAPE‟s Foundation Library

4.2.1 Brakes & Detents

Let‟s take a closer look at the Brakes & Detents. There are two categories,
rotational and translational.

Image 4.39: SIMSCAPE‟s SimDriveline Brakes & Detents

Image 4.40: SIMSCAPE‟s SimDriveline Brakes & Detents, rotational and translational
Friction

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Loaded-Contact Rotational Friction Loaded-contact friction between two

sliding bodies
Loaded-Contact Translational Friction Double-sided, spring-loaded
translational detent

Array 4.28: Thermal Sources

4.2.2 Clutches

Let‟s take a closer look at the Clutches.

Image 4.41: SIMSCAPE‟s SimDriveline Clutches

Cone Clutch Friction clutch with conical plates that

engage when normal force exceeds
threshold
Disk Friction Clutch Friction clutch with disk plates that
engage when plate pressure exceeds
threshold
Dog Clutch Clutch with toothed plates that engage
when plate teeth become enmeshed
Unidirectional Clutch Clutch that transmits power in a single
direction

Array 4.29: SimDriveline Clutches

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Image 4.42: SIMSCAPE‟s SimDriveline Clutches Fundamental Component

Fundamental Friction Clutch Friction clutch with kinetic and static-

limit friction torques as inputs

Array 4.30: SimDriveline Fundamental Friction Clutch

4.2.3 Couplings & Drives

Let‟s take a closer look at the Couplings & Drives.

Image 4.43: SIMSCAPE‟s SimDriveline Couplings & Drives

Torque Converter Viscous fluid coupling between rotating

driveline shafts
Torsional Spring-Damper Rotational spring and damper coupling,
with Coulomb friction, locking, and hard
stops
Variable Ratio Transmission Dynamic gearbox with variable and
controllable gear ratio, transmission
compliance, and friction losses

Array 4.31: SimDriveline Couplings & Drives

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4.2.4 Engines

Let‟s take a closer look at the Engines.

Image 4.44: SIMSCAPE‟s SimDriveline Engines

Generic Engine Internal combustion engine with throttle

and rotational inertia and time lag

Array 4.32: SimDriveline Engines

4.2.5 Gears

Let‟s take a closer look at the Gears.

Image 4.45: SIMSCAPE‟s SimDriveline Gears

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Compound Planetary Gear Planetary gear train with stepped planet

gear set
Differential Gear mechanism that allows driven
shafts to spin at different speeds
Planetary Gear Gear train with sun, planet, and ring
gears
Ravigneaux Gear Planetary gear with two sun gears and
two planet gear sets
Simple Gear Simple gear of base and follower
wheels with adjustable gear ratio and
friction losses
Worm Gear Worm gear with adjustable gear ratio
and friction losses

Array 4.33: SimDriveline Gears

Planetary Subcomponents

Image 4.46: SIMSCAPE‟s SimDriveline Planetary Subcomponents(Gear)

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Planet-Planet Planetary gear set of carrier, inner

planet, and outer planet wheels with
adjustable gear ratio and friction losses
Ring-Planet Planetary gear set of carrier, planet,
and ring wheels with adjustable gear
ratio and friction losses
Sun-Planet Planetary gear set of carrier, planet,
and sun wheels with adjustable gear
ratio and friction losses
Sun-Planet Bevel Planetary gear set of carrier, beveled
planet, and sun wheels with adjustable
gear ratio, assembly orientation, and
friction losses
Sun-Planet Worm Gear Planetary gear set of carrier, worm
planet, and sun wheels with adjustable
gear ratio, worm thread type, and
friction losses

Array 4.34: SimDriveline Planetary Subcomponents(Gear)

Rotational-Translational

Image 4.47: SIMSCAPE‟s SimDriveline Rotational-Translational(Gears)

Leadscrew Leadscrew gear set of threaded rotating

screw and translating nut, with
adjustable thread and friction losses
Rack & Pinion Rack and pinion gear coupling
translational and rotational motion, with
adjustable pinion radius and friction
losses

Array 4.35: SimDriveline Rotational-Translational(Gears)

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4.2.6 Tires & Vehicles

Let‟s take a closer look at the Tires & Vehicles.

Image 4.48: SIMSCAPE‟s SimDriveline Tires & Vehicles

Tire(Magic Formula) Tire with longitudinal behavior given by

magic formula coefficients
Vehicle Body Two-axle vehicle with longitudinal
dynamics and motion adjustable mass,
geometry, and drag properties

Array 4.36: SimDriveline Tires & Vehicles

Tire Components

Image 4.49: SIMSCAPE‟s SimDriveline Tire Components

Tire-Road Interaction (Magic Formula) Tire-road dynamics given by magic

formula coefficients

Array 4.37: SimDriveline Tire Components

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4.3 SimElectronics

Provides component libraries for modeling and simulating electronic and

mechatronic systems. It includes models of semiconductors, motors, drives,
sensors, and actuators. You can use these components to develop
electromechanical actuation systems and to build behavioral models for
evaluating analog circuit architectures in Simulink®. You can integrate mechanical,
hydraulic, pneumatic, and other physical systems into your model using
components from the Simscape family of products.

Image 4.50: SIMSCAPE‟s SimElectronics

Image 4.51: SIMSCAPE‟s SimElectronics

4.3.1 Actuators & Drivers

Let‟s take a look at the Actuators & Drivers.

Image 4.52: SIMSCAPE‟s SimElectronics Actuators & Drivers

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Drivers

Image 4.53: SIMSCAPE‟s SimElectronics Drivers

Controlled PWM Voltage Pulse-width modulated voltage source

model
H-Bridge Model H-bridge motor driver
Stepper Motor Driver Driver for stepper motor

Array 4.38: SimElectronics Drivers

Rotational Actuators

Image 4.54: SIMSCAPE‟s SimElectronics Rotational Actuators

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DC Motor DC motor model with electrical and

torque characteristics
FEM-Parameterized Rotary Actuator Model rotary actuator defined in terms
of magnetic flux
Generic-Rotary Actuator Model generic rotary actuator driven
from DC voltage source or PWM driver
Induction Motor Model induction motor powered by ideal
AC supply
Piezo Rotary Motor Model torque-speed characteristics of
rotary piezoelectric traveling wave
motor
Servomotor Brushless motor model with closed-loop
torque control
Shunt Motor Model electrical and torque
characteristics of shunt motor
Stepper Motor Model stepper motor
Universal Motor Model electrical and torque
characteristics of a universal(or series)
motor

Array 4.39: SimElectronics Rotational Actuators

Translational Actuators

Image 4.55: SIMSCAPE‟s SimElectronics Translational Actuators

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FEM-Parameterized Linear Actuator Model linear actuator defined in terms

of magnetic flux
Generic Linear Actuator Model generic linear actuator driven
from DC voltage source or PWM driver
Piezo Linear Motor Model force-speed characteristics of
linear piezoelectric traveling wave
motor
Piezo Stack Model electrical and force
characteristics of piezoelectric stacked
actuator
Solenoid Model electrical characteristics and
generated force of solenoid

Array 4.40: SimElectronics Translational Actuators

4.3.2 Integrated Circuits

Let‟s take a look at the Integrated Circuits.

Image 4.56: SIMSCAPE‟s SimElectronics Integrated Circuits

Band-Limited OP-Amp Model band-limited operational amplifier

Comparator Model a comparator behaviorally
Finite Gain Op-Amp Gain-limited operational amplifier model
with optional noise
Multiplier Model integrated circuit multiplier
Timer Model timer integrated circuit
behaviorally

Array 4.41: SimElectronics Integrated Circuits

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Logic

Image 4.57: SIMSCAPE‟s SimElectronics Logic

CMOS AND Model CMOS AND gate behaviorally

CMOS Buffer Model CMOS Buffer gate behaviorally
CMOS NAND Model CMOS NAND gate behaviorally
CMOS NOR Model CMOS NOR gate behaviorally
CMOS NOT Model CMOS NOT gate behaviorally
CMOS OR Model CMOS OR gate behaviorally
CMOS XOR Model CMOS XOR gate behaviorally
S-R Latch Model an S-R Latch behaviorally

Array 4.42: SimElectronics Logic

4.3.3 Passive Devices

Let‟s take a look at the Passive Devices.

Image 4.58: SIMSCAPE‟s SimElectronics Passive Devices

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Crystal Model stable resonator

Fuse Model fuse that protects against
excessive current
Potentiometer Model rotary or linear-travel
potentiometer controlled by physical
signal
Relay Model switching and associated delay
of relay
Thermal Resistor Model resistor with thermal port
Three-Winding Mutual Inductor Model three coupled inductors
Variable Capacitor Model linear time-varying capacitor
Variable Inductor Model linear time-varying inductor

Array 4.43: SimElectronics Passive Devices

4.3.4 Semiconductor Devices

Let‟s take a look at the Semiconductor Devices.

Image 4.59: SIMSCAPE‟s SimElectronics Semiconductor Devices

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Diode Diode model; piecewise linear,

piecewise linear zener, or exponential
diode
N-Channel IGBT Model N-Channel IGBT
N-Channel JFET Model N-Channel JFET
N-Channel MOSFET Model N-Channel MOSFET
NPN Bipolar Transistor Model NPN bipolar transistor using
enhanced Ebers-Moll equations
Optocoupler Model optocoupler as LED, current
sensor, and controlled current source
P-Channel JFET Model P-Channel JFET
P-Channel MOSFET Model P-Channel MOSFET
PNP Bipolar Transistor Model PNP bipolar transistor using
enhanced Ebers-Moll equations
Thyristor Model thyristor using PNP transistors

Array 4.44: SimElectronics Semiconductor Devices

4.3.5 Sensors

Let‟s take a look at the Sensors.

Image 4.60: SIMSCAPE‟s SimElectronics Sensors

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Incremental Shaft Encoder Model device that converts information

about angular shaft position into
electrical pulses
Light-Emitting Diode Model light-emitting diode as
exponential diode and current sensor in
series
PS Sensor Model generic linear sensor
Photodiode Model photodiode as parallel controlled
current source and exponential diode
Proximity Sensor Model simple distance sensor
Strain Gauge Model deformation sensor
Thermistor Model NTC thermistor using B-
parameter equation
Thermocouple Model sensor that converts thermal
potential difference into electrical
potential difference

Array 4.45: SimElectronics Sensors

4.3.6 Sources

Let‟s take a look at the Sources.

Image 4.61: SIMSCAPE‟s SimElectronics Sources

Generic Battery Simple battery model

Negative Supply Rail Model ideal negative supply rail
Positive Supply Rail Model ideal positive supply rail
Solar Cell Solar cell model

Array 4.46: SimElectronics Sources

4.3.7 Additional Components

Contains SPICE-Compatible components including passive devices,

semiconductor devices, sources and utilities.
SPICE(Simulation Program with Intergrated Circuit Emphasis) is an open source
analog electronic circuit simulator.

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4.4 SimHydraulics

Simscape Hydraulics provides component libraries for modeling and simulating

fluid systems. It includes models of hydraulic pumps, valves, actuators, pipelines,
and heat exchangers. You can use these components to develop fluid power
systems such as front-loader, power steering, and landing gear actuation
systems. Simscape Fluids also enables you to develop engine cooling, gearbox
lubrication, and fuel supply systems. You can integrate mechanical, electrical,
thermal, and other physical systems into your model using components from the
Simscape family of products.
Simscape Hydraulics helps you develop control systems and test system-level
performance. You can create custom component models with the
MATLAB® based Simscape language, which enables text-based authoring of
physical modeling components, domains, and libraries. You can parameterize
your models using MATLAB variables and expressions, and design control
systems for your hydraulic system in Simulink®. To deploy models to other
simulation environments, including hardware-in-the-loop (HIL) systems, Simscape
Fluids supports C-code generation.

Image 4.62: SIMSCAPE‟s SimHydraulics

Image 4.63: SIMSCAPE‟s SimHydraulics

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4.4.1 Accumulators

Let‟s take a look at the Accumulators.

Image 4.64: SIMSCAPE‟s SimHydraulics Accumulators

Gas-Charged Accumulator Hydraulic accumulator with gas as

compressible medium
Spring-Loaded Accumulator Hydraulic accumulator with spring used
for energy storage

Array 4.47: SimHydraulics Accumulators

4.4.2 Hydraulic Cylinders

Let‟s take a look at the Hydraulic Cylinders.

Image 4.65: SIMSCAPE‟s SimHydraulics Hydraulic Cylinders

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Centrifugal Force in Rotating Cylinder Centrifugal force in rotating hydraulic

cylinders
Cylinder Friction Friction in hydraulic cylinders
Double-Acting Hydraulic Cylinder Hydraulic actuator exerting force in both
directions
Double-Acting Hydraulic Basic functionality of double-acting
Cylinder(Simple) hydraulic cylinder
Double-Acting rotary Actuator Double-acting hydraulic rotary actuator
Single-Acting Hydraulic Cylinder Hydraulic actuator exerting force in one
direction
Single-Acting Hydraulic Basic functionality of single-acting
Cylinder(Simple) hydraulic cylinder
Single-Acting Rotary Actuator Single-acting hydraulic rotary actuator

Array 4.48: SimHydraulics Hydraulic Cylinders

4.4.3 Hydraulic Utilities

Let‟s take a look at the Hydraulic Utilities.

Image 4.66: SIMSCAPE‟s SimHydraulics Hydraulic Utilities

Hydraulic Fluid Working fluid properties, set by

selecting from list of predefined fluids
Reservoir Pressurized hydraulic reservoir

Array 4.49: SimHydraulics Hydraulic Utilities

4.4.4 Local Hydraulic Resistances

Let‟s take a look at the Local Hydraulic Resistances.

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Image 4.67: SIMSCAPE‟s SimHydraulics Local Hydraulic Resistances

Elbow Hydraulic resistance in elbow

Gradual Area Change Gradual enlargement or contraction
Local Resistance Hydraulic resistance specified by loss
coefficient
Pipe Bend Hydraulic resistance in pipe bend
Sudden Area Change Sudden enlargement of contraction
T-junction Hydraulic resistance of T-junction in
pipe

Array 4.50: SimHydraulics Local Hydraulic Resistances

4.4.5 Low-Pressure Blocks

Let‟s take a look at the Low-Pressure Blocks.

Image 4.68: SIMSCAPE‟s SimHydraulics Low-Pressure Blocks

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Constant Head Tank Hydraulic reservoir where

pressurization and fluid level remain
constant regardless of volume change
Hydraulic Pipe LP Hydraulic pipeline with resistive, fluid
compressibility, and elevation
properties
Hydraulic Pipe LP with Variable Hydraulic pipeline with resistive, fluid
Elevation compressibility, and variable elevation
properties
Resistive Pipe LP Hydraulic pipeline which accounts for
friction losses and port elevations
Resistive Pipe LP with Variable Hydraulic pipeline which account for
Elevation friction losses and variable port
elevations
Segmented Pipe LP Hydraulic pipelines with resistive, fluid
inertia, fluid compressibility, and
elevation properties
Variable Head Three-Arm Tank Pressurized fluid container with variable
fluid level
Variable Head Two-Arm Tank Pressurized fluid container with variable
fluid level
Variable Head Tank Pressurized fluid container with variable
fluid level

Array 4.51: SimHydraulics Low-Pressure Blocks

4.4.6 Orifices

Let‟s take a look at the Orifices.

Image 4.69: SIMSCAPE‟s SimHydraulics Orifices

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Annular Orifice Hydraulic variable orifice created by

circular tube and round insert
Fixed Orifice Hydraulic orifice with constant cross-
sectional area
Orifice with Variable Area Round Holes Hydraulic variable orifice shaped as set
of round holes drilled in sleeve
Orifice with Variable Area Slot Hydraulic variable orifice shaped as
rectangular slot
Variable Orifice Generic hydraulic variable orifice

Array 4.52: SimHydraulics Orifices

4.4.7 Pipelines

Let‟s take a look at the Pipelines.

Image 4.70: SIMSCAPE‟s SimHydraulics Pipelines

Hydraulic Pipeline Hydraulic pipeline with resistive and

fluid compressibility properties
Rotating Pipe Hydraulic pipeline created by bore in
rotating housing
Segmented Pipeline Hydraulic pipeline with resistive, fluid
inertia, and fluid compressibility
properties

Array 4.53: SimHydraulics Pipelines

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4.4.8 Pumps and Motors

Let‟s take a look at the Pumps and Motors.

Image 4.71: SIMSCAPE‟s SimHydraulics Pumps and Motors

Angle Sensor Ideal angle sensor with measuring

range from 0 to 360 degrees
Centrifugal Pump Centrifugal pump with choice of
parameterization options
Fixed-Displacement Pump Hydraulic-to-mechanical power
conversion device
Hydraulic Motor Generic hydraulic motor
Jet Pump Jet liquid-liquid pump
Porting Plate Variable Orifice Variable orifice between piston and
porting plate
Swash Plate Swash plate mechanism
Variable-Displacement Hydraulic Variable-displacement reversible
Machine hydraulic machine with regime-
dependable efficiency
Variable-Displacement Motor Variable-displacement bidirectional
hydraulic motor
Variable-Displacement Pressure – Hydraulic pump maintaining preset
Compensated Pump pressure at outlet by regulating its flow
delivery
Variable-Displacement Pump Variable-displacement bidirectional
hydraulic pump

Array 4.54: SimHydraulics Pumps and Motors

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4.4.9 Valves

Let‟s take a look at the Valves.

Image 4.72: SIMSCAPE‟s SimHydraulics Valves

Directional Valves

Image 4.73: SIMSCAPE‟s SimHydraulics Directional Valves

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2-Way Directional Valve Hydraulic continuous 2-way directional

valve
3-Way Directional Valve Three-port two-position directional
control valve
4-Way Directional Valve Four-port three-position directional
control valve
4-Way Directional Valve A Configuration A of hydraulic continuous
4-way directional valve
4-Way Directional Valve B Configuration B of hydraulic continuous
4-way directional valve
4-Way Directional Valve C Configuration C of hydraulic continuous
4-way directional valve
4-Way Directional Valve D Configuration D of hydraulic continuous
4-way directional valve
4-Way Directional Valve E Configuration E of hydraulic continuous
4-way directional valve
4-Way Directional Valve F Configuration F of hydraulic continuous
4-way directional valve
4-Way Directional Valve G Configuration G of hydraulic continuous
4-way directional valve
4-Way Directional Valve H Configuration H of hydraulic continuous
4-way directional valve
4-Way Directional Valve K Configuration K of hydraulic continuous
4-way directional valve
4-Way Ideal Valve Hydraulic 4-way critically-centered
valve
6-Way Directional Valve A Configuration A of hydraulic continuous
6-way directional valve
Cartridge Valve Insert Hydraulic cartridge valve insert
Cartridge Valve Insert with Conical Seat Hydraulic cartridge valve insert with
conical seat
Check Valve Hydraulic valve that allows flow in one
direction only
Pilot-Operated Check Valve Hydraulic check valve that allows flow
in one direction, but can be disabled by
pilot pressure
Shuttle Valve Hydraulic valve that allows flow in one
direction only

Array 4.55: SimHydraulics Directional Valves

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Flow Control Valves

Image 4.74: SIMSCAPE‟s SimHydraulics Flow Control Valves

Ball Valve Valve with a sliding ball control

mechanism
Ball Valve with Conical Seat Valve with a sliding ball control
mechanism with conical seat
Needle Valve Hydraulic needle valve
Poppet Valve Hydraulic poppet valve
Pressure-Compensated Flow Control Hydraulic pressure compensating valve
Valve

Array 4.56: SimHydraulics Flow Control Valves

Pressure Control Valves

Image 4.75: SIMSCAPE‟s SimHydraulics Pressure Control Valves

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Pressure Compensator Hydraulic pressure compensating valve

Pressure Reducing Valve Pressure control valve maintaining
reduced pressure in portion of system
Pressure Relief Valve Pressure control valve maintaining
preset pressure in system

Array 4.57: SimHydraulics Pressure Control Valves

Valve Actuators

Image 4.76: SIMSCAPE‟s SimHydraulics Valve Actuators

2-Position Valve Actuator Actuator for two-position valves

3-Position Valve Actuator Actuator for three-position valves
Hydraulic Double-Acting Valve Actuator Double-acting hydraulic valve actuator
Hydraulic Single-Acting Valve Actuator Single-acting hydraulic valve actuator
Hydraulic 4-Port Cartridge Valve Double-acting hydraulic valve actuator
Actuator driven by four pressures
Hydraulic Cartridge Valve Actuator Double-acting hydraulic actuator for
cartridge valves
Proportional and Servo-Valve Actuator Continuous valve driver with output
proportional to input signal
Valve Actuator Simplified model of valve driver

Array 4.58: SimHydraulics Valve Actuators

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Valve Forces

Image 4.77: SIMSCAPE‟s SimHydraulics Valve Forces

Spool Orifice Hydraulic Force Axial hydraulic force exerted on spool

Valve Hydraulic Force Axial hydraulic static force exerted on
valve

Array 4.59: SimHydraulics Valve Forces

4.5 SimMechanics

Simscape SimMechanics provides a multibody simulation environment for 3D

mechanical systems, such as robots, vehicle suspensions, construction
equipment, and aircraft landing gear. You can model multibody systems using
blocks representing bodies, joints, constraints, force elements, and
sensors. Simscape SimMechanics formulates and solves the equations of motion
for the complete mechanical system. You can import complete CAD assemblies,
including all masses, inertias, joints, constraints, and 3D geometry, into your
model. An automatically generated 3D animation lets you visualize the system
dynamics.
Simscape SimMechanics helps you develop control systems and test system-
level performance. You can parameterize your models using MATLAB variables
and expressions, and design control systems for your multibody system in
Simulink. You can integrate hydraulic, electrical, pneumatic, and other physical
systems into your model using components from the Simscape family of products.
To deploy your models to other simulation environments, including hardware-in-
the-loop (HIL) systems, Simscape SimMechanics supports C-code generation.

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Image 4.78: SIMSCAPE‟s SimMechanics

Image 4.79: SIMSCAPE‟s SimMechanics

4.5.1 Bodies: Represent machines and bodies

Image 4.80: SIMSCAPE‟s SimMechanics Bodies

Machine Environment Mechanical simulation parameters of a

machine
Shared Environment Utility that connects two independent
machines in a single mechanical
environment
Ground Fixed point attached to world
Body Rigid body with frames, inertia and
geometry
Array 4.60: SimMechanics Bodies

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4.5.2 Joints: Add degrees of freedom

Image 4.81: SIMSCAPE‟s SimMechanics Assembled Joints

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Prismatic Primitive joint with one translational

degree of freedom
Revolute Primitive joint with one rotational degree
of freedom
Spherical Primitive joint with three rotational
degrees of freedom
Planar Joint with one revolute and two
prismatic joint primitives
Universal Joint with two revolute joint primitives
Cylindrical Joint with one revolute and one
prismatic joint primitives
Gimbal Joint with three revolute joint primitives
Custom Joint Joint with custom combination of
prismatic, revolute, and spherical joint
primitives
Weld Joint with zero degrees of freedom
Telescoping Joint with three revolute and one
prismatic joint primitives
In-Plane Joint with two coplanar prismatic joint
primitives
Bushing Joint with three revolute and three
prismatic joint primitives
Bearing Joint with three revolute and one
prismatic joint primitives
Six-DoF Joint with three revolute and one
prismatic joint primitives
Screw Joint with coupled rotational and
translational degrees of freedom

Array 4.61: SimMechanics Assembled Joints

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Disassembled Joints: Dislocated joints

Image 4.82: SIMSCAPE‟s SimMechanics Disassembled Joints

Disassembled Cylindrical Joint with misaligned base and follower

axes containing one revolute and one
prismatic joint primitives
Dissasembled Prismatic Primitive joint with misaligned base and
follower axes containing one
translational degree of freedom
Disassembled Revolute Primitive joint with misaligned base and
follower axes containing one rotational
degree of freedom
Disassembled Spherical Primitive joint with misaligned base and
follower axes containing three rotational
degree of freedom

Array 4.62: SimMechanics Disassembled Joints

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Massless Connectors: Rigidly separated joints

Image 4.83: SIMSCAPE‟s SimMechanics Massless Connectors

Revolute-Revolute Constant-length joint connector with two

spatially separated revolute axis
Revolute-Spherical Constant-length joint connector with
spatially separated revolute axis and
spherical pivot point
Spherical-Spherical Constant-length joint connector with two
spatially separated spherical pivot
points

Array 4.63: SimMechanics Massless Connectors

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4.5.3 Constraints & Drivers: Remove degrees of freedom

Image 4.84: SIMSCAPE‟s SimMechanics Constraints & Drivers

Distance Driver Time-dependent distance between two

body coordinate systems
Angle Driver Driver specifying a time-dependent
angle between two body axis vectors
Linear Driver Time-dependent signal of a vector
position component between two body
coordinate systems
Velocity Driver Linear and angular velocity components
of base and follower body coordinate
systems
Point-Curve Constraint Constraint that restricts body motion to
a specified path
Parallel Constraint Constant parallel relationship between
two body axis vectors
Gear Constraint Constraint that restricts body motion to
rotation along tangent circles

Array 4.64: SimMechanics Constraints & Drivers

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4.5.4 Sensors & Actuators: Initiate, impose, and measure mechanical motion

Image 4.85: SIMSCAPE‟s SimMechanics Sensors & Actuators

Body Actuator Time-dependent force and torque used

to actuate a body
Joint Actuator Time-dependent force, torque or motion
input to a joint
Driver Actuator Time-dependent motion input for driver
blocks
Body Sensor Body translation and rotation sensor
Joint Sensor Joint force, torque, and motion sensor
Constraint & Driver Sensor Sensor used to measure the reaction
force and torque between two
constrained or driven bodies
Joint Initial Condition Initial joint position and velocity
Variable Mass & Inertia Actuator Time-dependent mass and inertia
parameters
Joint Stiction Actuator Joint static and kinetic friction

Array 4.65: SimMechanics Sensors & Actuators

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4.5.5 Force Elements: Generate interbody forces

Image 4.86: SIMSCAPE‟s SimMechanics Force Elements

Body Spring & Damper Damped linear oscillator force between

two bodies
Joint Spring & Damper Damped linear oscillator force or torque
acting on a joint

Array 4.66: SimMechanics Force Elements

4.5.6 Interface Elements: Interface three-dimensional motion with one-

dimensional domains in Simscape

Image 4.87: SIMSCAPE‟s SimMechanics Interface Elements

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Prismatic-Translational Interface Connection interface between prismatic

primitive and Simscape mechanical
translational elements
Revolute-Rotational Interface Connection interface between revolute
primitive and Simscape mechanical
rotational elements

Array 4.67: SimMechanics Interface Elements

4.5.7 Utilities: Useful Simscape SimMechanics blocks

Image 4.88: SIMSCAPE‟s SimMechanics Utilities

Continuous Angle Utility that converts a discontinuous

bounded angle into a continuous
unbounded angle
Mechanical Branching Bar Utility that maps multiple sensor and
actuation signals into a single
connection line
RotationMatrix2VR Utility that transforms 3x3 rotation
matrix into rotation axis-angle 4-vector

Array 4.68: SimMechanics Utilities

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4.6 Utilities

Required and commonly used blocks for setting simulation environment,

interfacing with Simulink models, and generating custom components on-the-fly

Image 4.89: SIMSCAPE‟s Utilities

Image 4.90: SIMSCAPE‟s Utilities

PS-Simulink Converter Convert physical signal into Simulink

output signal
Simulink-PS Converter Convert Simulink input signal into
physical signal
Solver Configuration Physical Networks environment and
solver configuration
Two-Way Connection Two-way connector port for subsystem
Connection Port Physical Modeling connector port for
subsystem

Array 4.69: Simscape Utilities

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CHAPTER 5

SIMSCAPE LANGUAGE

5.1 Simscape Language

The Simscape Language is a MATLAB-based programming language that gives

the user the ability to create custom component models. MATLAB is a text based
language for coding, mainly used for mathematical problems and control systems.
A program therefore written in MATLAB is lines of code. Simulink is a Model-
Based system design. MATLAB and Simulink combined offer the user textual and
graphical programming in order to design a system in a simulation environment.
Simscape, which is a package available in Simulink offers physical systems
simulation through various components such as electrical, hydraulic, magnetic,
mechanical, thermal, pneumatic etc. that are ready to use through libraries. The
Simscape foundation library has basic components in each domain and the user
can see the code used for most of them and can also make changes.
Simscape Language is a very powerful tool that gives the ability to the user to
create new custom components, however complex they might be in order to
match actual physical components to be used in simulation.

5.2 Component Types

In physical modeling there are two types of models, Behavioral and Composite.
Behavioral models that are implemented based on their physical behavior and are
described by a system of mathematical equations. Composite models on the other
hand are constructed out of other blocks and they are connected in a certain way.
Simscape language allows the user to create new behavioral and composite
models when the pre-existing standard block libraries don‟t match the user‟s
design requirements.

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5.3 Creating a new component

New custom built components require their own file with the „.ssc‟ extension. A
component file starts with the keyword „component‟ followed by the component
name (Component names cannot have spaces in-between) and is terminated by
the keyword „end‟. After that there is a comment which names the block in the
library. After naming the component and defining the block, there‟s optional room
for more comments describing the custom component (it appears in the
description of the block dialog box). Next, component files can have the following
sections in any order.
 Declaration Contains declarations for the component : variables, nodes,
inputs and outputs.
 Setup Contains assignment statements like if and error. The setup
function is executed once for each component instance during model
compilation. It prepares the component for simulation
 Branches Describes the relationship between the component variables
and nodes.
 Structure Declares the component connections for composite models.
 Events Event modeling lets you perform changes on continuous
variables.
 Equation Declares the component equations for behavioral models.
Each section ends with the keyword „end‟.

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5.4 Thermal Resistor

In order to create a new component using the Simscape Language first we have
to write the code and describe what the component does. Run MATLAB and go to
File  New  Script and we type the following code :

Image 5.1: Thermal Resistor code

Then go to File  Save As…name it MyResistor.ssc ,choose all files and click
save. After that is done, go to MATLAB Command Window and type ‘ssc_build’.
Now our custom made Thermal Resistor is ready to be used by Simscape.

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Let‟s take a closer look at our code.

Line 1  The first line in our code defines that we are making a component
named MyResistor
Line 2  In the second line we describe the block name in which case its called
„R Therm‟.
Lines 3-6  Optional short description of the component.
Lines 7-10  Our component needs two electrical ports, the „+‟ and „-„ of our
resistor in order to be connected to other blocks or elements.
Lines 11-14  Declaration of the component. Two variables, current and voltage.
Lines 15-20  Declaration of the component. We describe the parameters which
the user can change by double clicking the component.

Image 5.2: Block Parameters: R Therm

Lines 21-25  MATLAB functions and expressions for typical physical modeling
tasks such as analyzing parameters and performing computations.
Lines 26-28  Describes the relationship between variables and nodes.
Lines 29-32  In this section we define how the component behaves.

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CHAPTER 6

A LOOK AT DEMOS AND CREATING A NEW MODEL

6.1 Setting up the Simscape Simulation Results Explorer.

For MATLAB versions earlier than 2015 in order to log and view the simulation
data we are going to install an add-on called Simscape Simulation Results
Explorer.

Step 1  Go to https://www.mathworks.com/matlabcentral/fileexchange/28184-
simscape-simulation-results-explorer

Step 2  Click the download button

Image 6.1: Results explorer download page

Step 3  This will download a .zip file called simscape_logging.zip. Once the
download is finished, locate the file.

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Image 6.2: simscape_logging.zip

Step 4  Right click the file and chose “Extract to simscape_logging\”

Image 6.3: simscape_logging.zip extraction

Step 5  This is going to create a folder called “simscape_logging”. Right click

the folder and Copy.

Step 6  Go to C:\Program Files\MATLAB\R2011a\toolbox\matlab\ and right click

 paste.

Once this is done we are ready to use the .m file called ssc_explore which is a
function that gives the user the ability to log and view the simulation data.

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6.2 List of available demos

The available demos in Matlab R2011a are:

Band-limited Op-Amp ssc_bandlimited_opamp

Nonlinear Bipolar Transistor ssc_bipolar_nonlinear
Small Signal Bipolar Transistor ssc_bipolar_smallsignal
Full-Wave Bridge Rectifier ssc_bridge_rectifier
Circuit Breaker ssc_circuitbreaker
DC Motor Thermal Circuit ssc_dc_motor_thermal_circuit
Permanent Magnet DC Motor ssc_dcmotor
Differentiator ssc_differentiator
Model Using a Customized ssc_electrochemical_battery
Electrochemical Library
Finite-Gain Op-Amp ssc_finitegain_opamp
House Heating System ssc_house_heating_system
Hydraulic Actuator with Analog ssc_hydraulic_actuator_analog_control
Position Controller
Hydraulic Closed-Loop System ssc_hydraulic_system_2_way_valve
with Two-Way Valve
Inverting Op-Amp Circuit ssc_inverting_opamp
Lead-Acid Battery ssc_lead_acid_battery
Linkage Mechanism ssc_linkage_mechanism
Mechanical System with ssc_mechanical_system_translational_friction
Translational Friction
Mechanical System with ssc_mechanical_system_translational_hardstop
Translational Hard Stop
New electronic circuit ssc_new_elec
Noninverting Op-Amp Circuit ssc_non_inverting_opamp
Nonlinear Inductor ssc_nonlinear_inductor
Pneumatic Actuation Circuit ssc_pneumatic_actuator
Pneumatic Motor ssc_pneumatic_motor
Pneumatic Motor and ssc_pneumatic_motor_and_valve
Directional Control Valve
Heat Conduction through Iron ssc_round_rod_heat_conduction
Rod
Shunt Motor ssc_shuntmotor
Simple Mechanical System ssc_simple_mechanical_system
Solenoid ssc_solenoid
Solenoid with Magnetic Blocks ssc_solenoid_magnetic
Switched Reluctance Actuator ssc_switched_reluctance_actuator
Electrical Transformer ssc_transformer
Model using a Customized ssc_ultracapacitor
Capacitor Library

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Mechanical Rotational System ssc_rot_system_stick_slip

with Stick-Slip Motion

Array 6.1: Simscape Demos

6.3 Permanent Magnet DC Motor(PMDC)

This model is based on a Faulhaber Series 0615 DC-Micromotor. For the 1.5V
variant, equivalent circuit parameters are given as:

Rotor resistance R=3.9 Ohms

Rotor inductance L=12mH
Back emf constant K=0.072mV/rpm
Rotor inertia J=0.01gcm^2
Friction torque Mr=0.02mNm

The model uses these parameters to verify manufacturer-quoted no-load speed,

no-load current, and stall torque, which are:

No-load speed = 19,100rpm

No-load current = 0.03A
Stall torque = 0.24mNm

When running the simulation, for the first 0.1 seconds the motor has no external
load, and the speed builds up to the no-load value. Then at 0.1 seconds the stall
torque is applied as a load to the motor shaft. Zooming in on the RPM and Motor
Current scopes shows a good level of agreement with manufacturer data.

Often manufacturers do not quote the equivalent circuit parameters, and they
must be estimated from information such as no-load speed, stall torque, and
efficiency. A test harness such as this model can then be used to test the
estimated equivalent circuit prior to using the motor model in a complete system
simulation.

Let‟s go ahead and open it.

Step 1  Run Matlab and set the Path

Image 6.4: Matlab Path for simulation data

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To be sure that the ssc_explore m file is ready to be used for simulation logging
go ahead and type “which ssc_explore”

Image 6.5: Matlab path verification

Now, we are ready to run the built in example and take a look at the simulation
data.

Step 2  Type “ssc_dcmotor”. Press Enter and the Model is going to open.

Image 6.6: Running ssc_dcmotor

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Image 6.7: ssc_dcmotor model

If we double click on the DC Motor, the subsystem is going to open up.

Image 6.8: ssc_dcmotor subsystem

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Step 3  Go to Simulation  Configuration Parameters…

Image 6.9: Configuration Parameters

Go to Simscape and change the Log simulation data from none to all.

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Image 6.10: Configuration Parameters

Click Apply and then OK. Now all the simulation data is going to be stored in the
Workspace variable name “simlog”.

Step 4  Press Ctrl+T to start the simulation.

Step 5  Go to matlab and type “ssc_explore(simlog)”. This is going to open

the Simscape data logging explorer, the add-on we previously installed. It is a
great tool for viewing, logging and sharing the simulation data for our Models.

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Image 6.11: Simscape data logging explorer

Image 6.12: Motor Current Scope

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Image 6.13: Load Torque

6.4 Pneumatic Motor

This demo shows how the Simscape Foundation Library Rotational Pneumatic-
Mechanical Converter component can be used to approximate the behavior of a
pneumatic vane motor. The Pneumatic vane motor block mask parameters are
those given on the manufacturer datasheet. The datasheet also states that the
motor torque-speed characteristics are linear for fixed supply pressure. To
represent this, a linear damping term is placed across the output of the Rotational
Pneumatic-Mechanical Converter block. In this simulation, the
dynamometer linearly ramps up the speed, and the resulting torque is recorded.
The simulation verifies the nominal power as 2.6kW at 3500rpm, and no-load
speed as 7000rpm.
Following the steps shown on 5.1 we can run the simulation in order to verify
that the nominal power is 2.6kW at 3500rpm and no-load speed as 7000rpm.

Step 1  Open Matlab and type “ssc_pneumatic_motor”.

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Image 6.14: Pneumatic Motor

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Image 6.15: Dynamometer Subsystem

Step 2  Go to Simulation, Configuration Parameters, Simscape and change

the Log simulation data from none to all.

Step 3  Run the Simulation(Ctrl+T) and then type “ssc_explore(simlog)” in the

Matlab Command Window.

Image 6.16: Pneumatic Motor Scopes

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Image 6.17: Pneumatic Motor Pressure Sources

6.5 Modeling a DC Motor

Now, let‟s create our own DC Motor from start to finish.

Image 6.18: DC Motor

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It‟s a DC Motor that has two electrical connections and two mechanical
connections including one connection that can translate along an axis. Now the
problem is Modeling a DC motor with electrical and mechanical effects. Using
Simscape we can model this electromechanical system as a physical network.
Our model will look like this :

Image 6.19: DC Motor model

When we run the simulation we will see how the motor reacts as it acts against
the spring.

Step 1  Open MATLAB and set the Current folder to : C:\Program

Files\MATLAB\R2011a\toolbox\simscape_logging

Image 6.20: Current Folder for Simulation data

Step 2  Type “ssc_new” in the MATLAB Command Window. This opens up a

Simulink model with the settings recommended for Simscape models. It also adds
a few of the blocks commonly used in Simscape. Go ahead and select the upper
left Simulink-PS Converter and delete it.

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Image 6.21: ssc_new command

Step 3  The first thing that we‟ll need to model a DC motor is a DC Voltage
source. Go to View  Library Browser

Image 6.22: Opening the Library Browser

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Entering a search parameter in the Library Browser will give you a list of models
you can use. Go ahead and type “DC Voltage Source”.

Image 6.23: Library Browser Search

When a selection of the component you want to use is made, in the bottom left
corner it shows which Library the selected component is from. In our case, we
select the DC Voltage Source from the Simscape Foundation Library.

Step 4  To add the DC Voltage Source to our model we can either drag the
component from the Library Broswer window and drop it to our model or we can
left click the component from the Library Browser and add it to the model(Ctrl+I).

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Image 6.24: Adding the DC Voltage Source

After the DC Voltage Source is added to our model we can double click on the
component and set the Constant voltage to 5 Volts and press OK.

Step 5  Following the same procedure go ahead and search for a resistor,
select it and add it to our model.

Image 6.25: Adding a resistor

Step 6  Now we need a block to convert between electrical and mechanical

energy. Search for “electromechanical” and chose the Rotational
Electromechanical Converter and add it to the model.

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Image 6.26: Adding a Rotational Electromechanical Converter

Step 7  Adding an Inductor. Search for Inductor and chose the one from the
Simscape family.

Image 6.27: Adding an Inductor

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Step 8  Adding a ground. Search for Electrical Reference and add to the
model.

Image 6.28: Adding an Electrical Reference

Step 9  Lets create the physical connections by wiring the components.

Image 6.29: Creating physical connections

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Simscape uses solver technology above and beyond what‟s available in normal
Simulink. To have access to some of those settings we will connect the solver
Configuration Block.

Step 10  Now we are going to add the mechanical portion of the model. We will
attach the housing of the motor to a point fixed in space. To do that, search for
Mechanical Rotational Reference and connect it to the model as seen below.

Image 6.30: Adding Mechanical Rotational Reference

Step 11  Lets connect the shaft with an Inertia. Search for “Inertia”.

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Image 6.31: Adding Inertia to the shaft

Note: To rotate any component, select it and press Ctrl+R.

Step 12  To model the viscous friction at the bearing of our motor we will add a
Damper. Search for Damper and select the Rotational Damper, rotate as shown
and connect to the Converter.

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Image 6.32: Adding and connecting a Rotational Damper

Step 13  To convert the rotational motion of the shaft to translational motion. To

do that, search for the Wheel and Axle block. Add and connect to the model.

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Image 6.33: Adding and connecting a Wheel and Axle

Step 14  We want the motor to act against the spring so we will insert a Spring.
Search for “spring” and add the Translational Spring to the model.

Image 6.34: Adding and connecting a Translational Spring

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Step 15  Connect the Spring to a point fixed in space. Search for Mechanical
Translational Reference and add it to the model.

Image 6.35: Adding and connecting a Mechanical Translational Reference

With this the model is complete and we can run the model and simulate.

Step 16  Save the model by going to File  Save As and chose a name for the
model. Once we have saved the model we can run the simulations. Go to
Simulation  Configuration Parameters… From the left section locate
Simscape  Data logging. Change the Log simulation data from none to all.
Click apply and OK. Now we can start the simulation.

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Image 6.36: Simulation data logging

Go to the model and Start the simulation by pressing the start button.

Image 6.37: Starting the Simulation

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Step 17  In order to view the simulation data go to the MATLAB Command

Window and type “ssc_explore(simlog)”. This will open up the Simscape data
logging explorer. In this window we can explore the results of our simulation
through the tree browser.

Here we can see the speed of the shaft as it settles out to 0 rad/s.

Image 6.38: Simulation Data

We can look at electrical quantities such as the current going through the resistor:

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Image 6.39: Simulation Data

We can see by how much the spring was compressed by selecting the x variable
in the translational spring. It compressed to about 0.01 meters.

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Image 6.40: Simulation Data

Step 18  We can increase the distance that the motor shaft moves by reseting
the stiffness of the spring. Go to the model and locate the Translational Spring.
Double click it and change the values of the Spring rate to 500. Click Apply and
OK.

Image 6.41: Changing the Spring rate

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Now run the simulation again and reload the logged data.

Image 6.42: Reloading logged data

We can see that the spring now compresses 0,02 meters because we halved the
stiffness of the spring.

Step 19  To view the results of this simulation on a Simulink scope we can use
sensor blocks. Go to the model and open up the Library Browser. Search for
Motion Sensor and add the Ideal Rotational Motion Sensor. Connect as seen
below.

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Image 6.43: Simulink Scope connection

Double click on the PS-Simulink Converter and change the Output signal unit to
“deg”.

Image 6.44: Changing the output signal unit

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Press Apply and OK. Double click on the Scope and run the simulation again.
Once the simulation is done, left click on the Scope window and click Autoscale.
Here we can see how much the shaft turns, in this case we see that it settles at
about 22,5 degrees.

Image 6.45: Simulink Scope

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BIBLIOGRAPHY

[1]https://en.wikipedia.org/wiki/MathWorks

[2]https://www.mathworks.com/products/simscape.html

[3]https://en.wikipedia.org/wiki/MATLAB

[4]http://cimss.ssec.wisc.edu/wxwise/class/aos340/spr00/whatis
matlab.htm

[5]https://www.diva-
portal.org/smash/get/diva2:218737/FULLTEXT01.pdf

[6]https://www.mathworks.com/help/physmod/simscape/index.ht
ml

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