Mechanical simulation parameters of a machine
The Machine Environment block allows you to view and change the mechanical environment settings for one machine in your model.
Caution: A Simscape™ Multibody™ model consists of one or more machines. A machine is a complete, connected diagram of Simscape Multibody blocks topologically distinct from other complete Simscape Multibody block diagrams. Each machine must have one or more Ground blocks.
A machine can be a composite of submachines connected by Shared Environment blocks. Each submachine must have one or more Ground blocks.
Exactly one Ground per machine, simple or composite, must be connected to a Machine Environment block for your Simscape Multibody model to be valid.
This block determines the following settings for the machine:
How to simulate the machine
How to interpret mechanical constraints
How to linearize the simulation
Whether and how to display the machine in visualization
You connect this block to a Ground by enabling that Ground's Machine Environment port from the Ground dialog.
This block also allows you to input gravity as a variable Simulink® signal.
If you choose to do this, a Simulink inport
appears on the block for connection to a three-component Simulink signal
You can open the Simulink Configuration Parameters dialog for viewing and editing by clicking the Configuration Parameters button on the lower left of the block dialog.
In the lower half of its dialog, the Machine Environment block has four active tabs that you can view and modify after selecting the corresponding tabs. You can apply your settings at any time by clicking Apply or OK.
In this tab, you configure settings that control the mechanical dynamics.
The value of this parameter is a MATLAB® vector that specifies
the magnitude and direction of gravitational acceleration in the model's
world coordinate system. It must be a three-component vector. The
default vector is
[0 -9.81 0]. This field is disabled
if you choose to input gravity as a signal.
The default units are
per square second). Use the pull-down menu to the right if you want
to reset the units.
Select this check box if you want to disable the Gravity vector field and instead input gravity as a variable Simulink signal. The default is not selected.
If you select this check box, a Simulink inport appears on the block in addition to the existing Machine Environment port. You input the gravity vector as a three-component Simulink signal to this port. The components are, respectively, x, y, and z.
In the pull-down menu, select in how many dimensions you want
to simulate your machine: in
3D Only or
Only, or let the Simscape Multibody simulation choose for
Auto. The default is
You must take care, if you choose
that the machine actually moves in only two dimensions. If it does
not, the simulation stops with an error.
Specifies the type of analysis to be performed during the simulation. Choose one from the pull-down menu.
|Computes the positions and velocities of the system's bodies, given forces, torques, and initial conditions. This is the default mode.|
|Computes the forces and torques required to produce the specified motions of an open machine.|
|Computes the forces and torques required to produce the specified motions of a closed-loop machine.|
Variant of Forward Dynamics mode to be used with the Simulink
Maximum position error allowed between bodies connected by prismatic
joints. The default is
1e-3 m. Use the menu on
the right to set the units.
Maximum angular error allowed between bodies connected by revolute
joints. Default is
1e-3 rad. Use the menu on the
right to set the units.
In this tab, you tell the Simscape Multibody simulation how to interpret mechanical constraints in machines that contain blocks from the Constraints & Drivers library; cut Joint, Constraint, and Driver blocks in closed loops; or both.
Type of solver used to solve constraints on the mechanical system's states. Choose one from the pull-down menu.
|Adds a self-correcting term to the dynamics that stabilizes the numerical solution so that it drifts toward the constraint manifold. This is the default.|
|Solves the constraints on the system's states to a specified degree of accuracy.|
|Solves the constraints to the numerical precision of the computer on which the simulation is running.|
The relative tolerance used by the tolerancing constraint solver
to determine when to stop refining a solution. Default is
Enabled only if Constraint solver type is
The absolute tolerance used by the tolerancing constraint solver
to determine when to stop refining the solution of a machine state.
Enabled only if Constraint solver type is
Select this check box if you want Simulink to take extra steps to handle singularities in a system's equations of motion. The default is not selected.
This option increases the computational cost of solving a system's equations of motion, regardless of whether they have singularities. Select this option only as a last resort, i.e., only if the Simulink solvers cannot otherwise solve the system's equations of motion or require an excessively long time to do so.
Specify tolerance in this pull-down
menu if you want to control how precisely the Simscape Multibody simulation
distinguishes constraints. The default is
This option is important if you have two or more constraints that impose almost identical restrictions on the motion of your machine. More constraints means fewer degrees of freedom.
If two or more constraints are almost the same, the simulation eliminates one or more of them as redundant.
If the constraints are dissimilar enough, the simulation treats them as independent constraints.
Specify tolerance enables the Relative
The relative tolerance of redundant constraint analysis that
the simulation implements. This field is enabled only if you select
tolerance in the Redundant constraint
tolerancing pull-down menu. The default is
Making this tolerance larger means the simulation treats similar constraints as the same, i.e., redundant.
Making this tolerance smaller means the simulation treats similar constraints as distinct, i.e., not redundant.
In this tab, you tell the simulation how to linearize your machine.
Specifies the type of state perturbation used by
linearize a machine. The default is
Adaptive recomputes the size of
the perturbation used at each step in the linearization process to
ensure accurate computation of the linearization coefficients. It
starts with the entry in the Perturbation size field
as an initial guess.
Fixed uses the perturbation size
specified in the Perturbation size field
for every step.
Specifies the relative size of the perturbation used by the
perturbation option. Specifies the relative size of the
initial guess perturbation used by the
type. The perturbation size is relative to the size of the state being
perturbed. The default is
In this tab, you determine whether Simscape Multibody visualization displays this machine and choose the default body geometry (surface shape) and color for all the Bodies within the connected machine.
The machine inherits the model-wide defaults for body geometry and color. But you can change these machine-wide defaults to differ from the model-wide defaults.
Select this check box if you want the machine to which this block is connected to appear in the visualization window. The default is selected.
From the pull-down menu, select a machine-wide default body geometry.
From the pull-down menu, choose whether to use the model-wide default for the color of all Bodies in this machine (the default), or to specify a machine-wide default different from the model-wide default.
If you select
Specify in the Body
color selection mode pull-down menu, you can specify the
machine-wide default body color in the field. You specify RGB values
according to the MATLAB Graphics
The default is
[1 0 0].
For more about Simscape Multibody models and machines, see Representing Machines with Models. For more about using Grounds and creating valid Simscape Multibody models, see Modeling Grounds and Bodies and Validating Mechanical Models. For more about modeling constraints, see Constraining and Driving Degrees of Freedom.
For more about configuring visualization for simulation, see Starting Visualization and Simulation.
For more about running Simscape Multibody software with Simulink, see Configuring Simscape Multibody Models in Simulink, Machine Settings via the Machine Environment Block, and Configuring Methods of Solution.
For more about configuring simulations in Simulink, consult the section on the Configuration Parameters dialog in the Simulink documentation.