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Copyright ? 2014. The McGraw-Hill Companies, Inc. System Dynamics, Third Edition William J. Palm III Using Simscape? for Modeling Electromechanical Systems: Dynamics and Control of a Robot Arm PowerPoint to accompany 1 These slides are intended to be used with the author’s text, System Dynamics, 3/e, published by McGraw-Hill?2014. Acknowledgments The author wishes to acknowledge the support of McGraw-Hill for hosting these slides, and The MathWorks, Inc., who supplied the software. Naomi Fernandes, Dr. Gerald Brusher, and Steve Miller of MathWorks provided much assistance. Dr. Brusher’s contributions formed the basis for many of the Simscape models presented here. MATLAB?, Simulink?, and Simscape? are registered trademarks and trademarks of The MathWorks, Inc. and are used with permission. 2 The equations and math symbols in these slides were created with the new equation editor in PowerPoint 2010, and thus material containing these elements will appear as graphics when viewed in an earlier version. 3 INTRODUCTION Simscape? extends the capabilities of Simulink? by providing tools for modeling and simulation of multi-domain physical systems, such as those with mechanical, hydraulic, and electrical components. In this presentation, we will show you how to utilize Simscape to construct models of electrical and mechanical systems. Shown below is a robot arm that has six joints. We will develop a model of one of those joints. 4 5 6 With each example, we will illustrate the model construction step by step. If possible, you should construct that model at each step as you follow the presentation. Our example systems are simple enough such that we can obtain and solve the corresponding analytical models. We will use these solutions to check our simulation results. However, for more complicated systems this is not possible, and it is for these types of problems that simulation software is invaluable. 7 EXAMPLE 1: AN RL CIRCUIT: This is the final result we will ob