{"title":"基于ADAMS和Matlab/Simulink的控制系统动态仿真研究","authors":"C. Chavez-Olivares, E. Rubio, C. Guzman","doi":"10.23967/j.rimni.2022.04.001","DOIUrl":null,"url":null,"abstract":"ADAMS-MATLAB co-simulation is widely used in complex system development to control models of closed-loop mechanisms. An advantage of ADAMS is to facilitate the configuration of parameters such as friction. However, its mathematical friction model is unknown. There are alternatives such as Simscape Multibody that facilitate the configuration of any friction model. This paper presents a case study of dynamic simulation using the mathematical model of a mechanism in order to compare it with ADAMS and Simscape Multibody. The state-space model uses the parameters b and fc – viscous and Coulomb friction coefficients. However, ADAMS uses only one dynamic friction parameter µ. Since both friction parameters do not appear in ADAMS, a parametric identification procedure was used to determine the equivalency between the friction coefficients b and fc compared to µ. To identify the friction model of ADAMS, open-loop and closed-loop simulations were proposed. To compare the simulation results numerically, the L2 norm was used. The reference was the model solved with the ODE45 function.","PeriodicalId":49607,"journal":{"name":"Revista Internacional de Metodos Numericos para Calculo y Diseno en Ingenieria","volume":"1 1","pages":""},"PeriodicalIF":0.3000,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Study of dynamic simulators with ADAMS and Matlab/Simulink for control systems\",\"authors\":\"C. Chavez-Olivares, E. Rubio, C. Guzman\",\"doi\":\"10.23967/j.rimni.2022.04.001\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"ADAMS-MATLAB co-simulation is widely used in complex system development to control models of closed-loop mechanisms. An advantage of ADAMS is to facilitate the configuration of parameters such as friction. However, its mathematical friction model is unknown. There are alternatives such as Simscape Multibody that facilitate the configuration of any friction model. This paper presents a case study of dynamic simulation using the mathematical model of a mechanism in order to compare it with ADAMS and Simscape Multibody. The state-space model uses the parameters b and fc – viscous and Coulomb friction coefficients. However, ADAMS uses only one dynamic friction parameter µ. Since both friction parameters do not appear in ADAMS, a parametric identification procedure was used to determine the equivalency between the friction coefficients b and fc compared to µ. To identify the friction model of ADAMS, open-loop and closed-loop simulations were proposed. To compare the simulation results numerically, the L2 norm was used. The reference was the model solved with the ODE45 function.\",\"PeriodicalId\":49607,\"journal\":{\"name\":\"Revista Internacional de Metodos Numericos para Calculo y Diseno en Ingenieria\",\"volume\":\"1 1\",\"pages\":\"\"},\"PeriodicalIF\":0.3000,\"publicationDate\":\"2022-01-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Revista Internacional de Metodos Numericos para Calculo y Diseno en Ingenieria\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://doi.org/10.23967/j.rimni.2022.04.001\",\"RegionNum\":4,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q4\",\"JCRName\":\"ENGINEERING, MULTIDISCIPLINARY\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Revista Internacional de Metodos Numericos para Calculo y Diseno en Ingenieria","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.23967/j.rimni.2022.04.001","RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"ENGINEERING, MULTIDISCIPLINARY","Score":null,"Total":0}
Study of dynamic simulators with ADAMS and Matlab/Simulink for control systems
ADAMS-MATLAB co-simulation is widely used in complex system development to control models of closed-loop mechanisms. An advantage of ADAMS is to facilitate the configuration of parameters such as friction. However, its mathematical friction model is unknown. There are alternatives such as Simscape Multibody that facilitate the configuration of any friction model. This paper presents a case study of dynamic simulation using the mathematical model of a mechanism in order to compare it with ADAMS and Simscape Multibody. The state-space model uses the parameters b and fc – viscous and Coulomb friction coefficients. However, ADAMS uses only one dynamic friction parameter µ. Since both friction parameters do not appear in ADAMS, a parametric identification procedure was used to determine the equivalency between the friction coefficients b and fc compared to µ. To identify the friction model of ADAMS, open-loop and closed-loop simulations were proposed. To compare the simulation results numerically, the L2 norm was used. The reference was the model solved with the ODE45 function.
期刊介绍：
International Journal of Numerical Methods for Calculation and Design in Engineering (RIMNI) contributes to the spread of theoretical advances and practical applications of numerical methods in engineering and other applied sciences. RIMNI publishes articles written in Spanish, Portuguese and English. The scope of the journal includes mathematical and numerical models of engineering problems, development and application of numerical methods, advances in software, computer design innovations, educational aspects of numerical methods, etc. RIMNI is an essential source of information for scientifics and engineers in numerical methods theory and applications. RIMNI contributes to the interdisciplinar exchange and thus shortens the distance between theoretical developments and practical applications.
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