| Version 2.2 (R14) SimMechanics™ Software Release Notes | |
This table summarizes what's new in V2.2 (R14):
| New Features and Changes | Version Compatibility Considerations | Fixed Bugs and Known Problems | Related Documentation at Web Site |
|---|---|---|---|
| Yes | Yes—Details labeled as Compatibility Considerations, below. See also Summary. | Fixed
bugs at Web site | No |
New features and changes introduced in this version are described here.
This version of SimMechanics software introduces significant changes to how you control simulation, mechanical environment, and visualization in SimMechanics models. These changes, summarized below, include
The new controls are fully documented in the SimMechanics User's Guide chapters on running simulations and visualization.
In the new version of SimMechanics software, you configure the mechanical environment for an entire model in the SimMechanics node of the Configuration Parameters dialog, accessed via the Simulation menu. You configure the mechanical environment for each separate machine diagram (one or more per model) via its Machine Environment block. These two dialogs replace the old Mechanical Environment Settings dialog.
You must connect exactly one Machine Environment block to each separate machine diagram at one of the machine's Ground blocks. The new Machine Environment block is located in the Bodies library.
See Choosing a Ground Block as Machine Root following.
Prior to this version, SimMechanics models recorded mechanical environment data in the Mechanical Environment Settings dialog. Although you can no longer access this dialog from the Simulation menu, you can continue to run old models as they are. If you want to view these old settings, enter mech_environment(gcs) at the command line with your old model open. You cannot change the dialog settings.
If you want to change the settings in old models or build a new SimMechanics model, you must use the new Machine Environment block. Copying this block from the Bodies library into an old model causes the old Mechanical Environment Settings data to be copied into the block. You can then reconfigure the new block as you want.
The new Ground block has the option of being chosen as the root for a machine's Machine Environment block. In each separate machine diagram (one or more per model), choose one such Ground by selecting Show Mechanical Environment port in its dialog. The corresponding port then appears on the Ground. Then connect a Machine Environment block to the Ground at this port.
See New Machine Environment Block preceding.
The new Machine Environment block allows you to choose, through its Machine dimensionality pull-down menu, a specialized solver for a machine that moves in only two dimensions. SimMechanics software detects the dimensionality and automatically adjusts the solver by default. But you can override the default and require SimMechanics software to simulate in either three or two dimensions.
The two-dimensional solver significantly improves simulation performance in two and one dimensions.
The new Machine Environment block allows you to input gravity as an external Simulink signal. In the block dialog, select Input gravity as signal. A Simulink inport appears for connecting the Simulink signal line. The gravity must be a three-component vector signal. You choose the units in the Gravity vector units pull-down menu of the block dialog. SimMechanics software interprets the vector gravity signal the same way it interprets the static Gravity vector field value in the block dialog.
If you choose gravity as a signal, the Gravity vector field is ignored.
SimMechanics software now lets you control diagnostic messages. In the SimMechanics node of the Configuration Parameters dialog, accessed via the Simulation menu, you can select to enable or disable certain warning messages, and whether to mark closed-loop joints cut automatically by SimMechanics software.
All coordinate system (CS) references in Body blocks from one CS to another CS must now refer to only
Other CSs on the same Body
Adjoining CSs (coordinate systems on Bodies directly connected to the referring body)
World
All other CS references now cause simulation errors.
Other types of CS references from one Body to another now lead to simulation errors. If any of your old models contain such references, you must update them.
You can no longer eliminate all the non-center-of-gravity (CG) Body coordinate systems (CSs) on a Body block dialog. Besides the undeletable CG CS entry, at least one non-CG CS must remain.
You now enable SimMechanics visualization and animation for an entire model in the Visualization area of the SimMechanics node of the Configuration Parameters dialog, reached via the Simulation menu. You now enable or disable visualization for individual machines within a model via the Visualization tab of the Machine Environment block dialog. See New Machine Environment Block preceding.
All SimMechanics visualization controls are now located on the specially configured MATLAB Graphics visualization window, in the SimMechanics menu and toolbar.
SimMechanics visualization no longer immediately displays a Body newly added to a model. Instead you must update the model by selecting Update Diagram from the Edit menu.
SimMechanics software no longer includes internally integrated Virtual Reality Toolbox™ visualization. Models configured to use virtual reality now default to the MATLAB Graphics visualization/animation tool, which is still supported by SimMechanics software.
See the Visualizing with an External Virtual Reality Client of the visualization chapter in the SimMechanics documentation.
Consult the Web product page for more about Virtual Reality Toolbox.
You can continue to use Virtual Reality Toolbox with SimMechanics models by creating your own virtual world for your machine, incorporating into your model a VR Sink block linked to your virtual world, and feeding Body Sensor signals to the VR Sink.
The Point-Curve Constraint no longer creates algebraic loops in Simulink. This improvement means that you can now generate code from models containing Point-Curve Constraints.
The stand-alone SimMechanics library used for code generation is now precompiled for supported platforms using standard targets. This feature significantly speeds up compilation of generated code.
SimMechanics code generation now supports Real-Time Windows Target.
SimMechanics software now supports Model Referencing and S-function target. It also now supports Simulink External mode, but without visualization. See the sections on generating code and SimMechanics limitations in the SimMechanics documentation.
SimMechanics software is now supported on the Hewlett-Packard UNIX® (HP-UX) operating system.
All SimMechanics demos have been updated with the new Machine Environment block. New demos have also been added:
mech_bouncing_ball demonstrates how to model impact and collisional forces using a bouncing ball.
mech_flyball models a flyball governor mechanism.
mech_rack_pinion models a driven rack-and-pinion mechanism.
mech_rolling_sphere demonstrates how to model nonholonomic constraints using a sphere rolling on a two-dimensional surface.
mech_toroid illustrates the Point-Curve Constraint with a body sliding on a toroidal curve.
The SimMechanics User's Guide has been enhanced.
The review chapter on body motion and coordinate systems is expanded with greater detail and more examples.
The computer-aided design (CAD) documentation (also available as a separate book) has been significantly revised and expanded. See the CAD chapter.
The case study sections on trimming and linearization have been revised and expanded, including a new closed-loop linearization example.
You can find a more complex closed-loop linearization example using a Stewart platform model at
www.mathworks.com/company/newsletters/digest/sept02/stewart.html
| Version 2.2.1 (R14SP1) SimMechanics Software | Version 2.1.1 (R13SP1) SimMechanics Software | |
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