EEET 3046 : Introduction to Model Based Design Using MATLAB - Assignment Help

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Introduction As the first practical of the course, this practical serves to introduce you to some basic functionality of MATLAB for control system design. The standard practice for designing any mechanical system is to first design it in a CAD software like SOLIDWORKS. The CAD model can then be exported to a specialized software such as MATLAB for controller design. Efficient design of control systems requires a design and development tool that is able to represent a system in different levels of details. The Simulink module of MATLAB is such a tool. On the highest level of detail, Simulink provides block diagrams for system design. On the lowest level of detail, each block actually represents some piece of code or logic, or some algebraic or differential equations. On top of Simulink, MATLAB provides the Simscape library for modeling systems of various domains, for example, Simscape Electrical for modeling electrical or electronic systems, and Simscape Multibody for modeling mechanical multibody systems. In this practical, we will learn how to use Simscape Multibody to import a CAD model. On top of the imported CAD model, we will implement a motion controller, and simulate the motion of the overall system. To avoid confusion, note that a CAD model is a geometric model, while the "model" in "model-based design" refers to a mathematical model. Simscape Multibody supports several types of CAD models, but we only use SOLIDWORKS here. For most of you, this might be your first time using Live Script and Simscape Multibody, so we will start off with a gentle introduction to these two MATLAB technologies.

Task 1: Getting to know Live Script

This very document is a MATLAB Live Script. Live Script is a recent addition to MATLAB to match the notebook-like interactivity of Maple and Mathematica. This is how MathWorks defines a Live Script: A MATLAB® Live Script is an interactive document that combines MATLAB code with embedded output, formatted text, equations, and images in a single environment called the Live Editor. Live Scripts are stored using the Live Script file format in a file with a .mlx extension." Here is short guide on how we should use a Live Script:

• Instead of using MATLAB comments to annotate code, we now have the ability to mix formatted text, mathematical expressions, and even images with our code. This makes our code immensely readable, and serves a powerful tool for computational thinking.

• For typing math expressions, we can use the LaTeX syntax — this is a significant feature albeit an overlooked one for most undergraduates.

• A Live Script is structured into sections. To execute the code in the current section, press Ctrl+Enter; and as usual, to run all the code in the file, press F5. Note that MATLAB requires the entire Live Script to be free of syntactic errors, before it runs any section.

• Since Live Script is a binary file format, to compare two Live Scripts, we need to use the “Compare” button in the “LIVE EDITOR” tab of the MATLAB IDE. This is a significant feature for practitioners of version control.

• For this practical, use the provided Live Script template as the basis for your practical report. Complete the tasks by filling in the missing code/text/math in the template, and submit your completed Live Script file

 • MATLAB beginners have the tendency to calculate a value using their calculator, and hard-code that value into their MATLAB code, when they can actually perform the calculation right in their MATLAB code. Doing all your calculation in MATLAB ensures your MATLAB code is self-contained, and avoids unnecessary accuracy loss.

1.1: Press Ctrl+Shift+L to insert the math expresion in the LaTeX syntax syntax below.

Answer: Task 2: Getting to know Simscape Multibody [?/2] Simscape Multibody started life as SimMechanics in 2001, and got its current name in 2016. Since its inception, it has been constantly evolving, entering its second generation in 2012 [SMGSG, SMUG]. While the firstgeneration library continues to be supported for backward compatibility, the second-generation libraries should be used for all intents and purposes.

2.1: Below, write down and run the command to open the Simscape Multibody library. ?Score: ?/1 | Comment: Simscape Multibody can be used to model multibody systems using blocks representing bodies, joints, constraints, force elements, and sensors. A Simscape Multibody model consists of a block diagram composed of one or more machines, each of which is a set of connected blocks representing a single physical machine. Based on the model, Simscape Multibody assembles and solves the equations of motion for the complete mechanical system. The multidomain nature of Simscape means components from other Simscape blocksets, such as electrical, hydraulic, or pneumatic components can be integrated into the model. Furthermore, Simscape Multibody supports C code generation through Simulink Coder for deployment to other simulation environments, including hardware-in-the-loop systems.

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