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Motion Driver for SimMechanics

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Motion Driver for SimMechanics

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12 May 2010 (Updated )

A block to generate velocity and acceleration from a position signal.

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Description

One way to actuate a SimMechanics model is by providing its Actuator blocks with 'Motion' signals. The input to a 'Motion' actuator is a three-element vector containing position, velocity and acceleration signals.

In many applications, the only data that is available is the position. This raises an interesting question: how can we calculate consistent velocity and position signals? One way to actuate a SimMechanics model is by providing its Actuator blocks with 'Motion' signals. The input to a 'Motion' actuator is a three-element vector containing position, velocity and acceleration signals.

In many applications, the only data that is available is the position. This raises an interesting question: how can we calculate consistent velocity and position signals? Differentiating the position signal sometimes works, but the velocity and acceleration signals tend to become very noisy. A better - though less intuitive approach - is to create a second-order tracking filter and use its position, velocity and acceleration signals to drive the actuator.

This file contains a small Simulink library, motdrv_lib and an example file, mech_motdrv. To use these, copy the files to your computer, add the directory to the MATLAB search path (see addpath for help) and type mech_motdrv in the MATLAB Command Window.

Acknowledgements

This file inspired Quarter Of Vehicle Simulation With Simscape.

Required Products SimMechanics
Simscape
Simulink
MATLAB release MATLAB 7.10 (R2010a)
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Comments and Ratings (2)
23 Jan 2013 Orkun Ogucu  
21 Mar 2012 Dean Kowal

When I click "Download All" I get Zip dated 06-Sept. (where is Zip 14-Sept ?)

Updates
06 Sep 2010

Enhanced to support inherited initial conditions. Velocity-driven version of block introducted.

14 Sep 2010

Fixed typographical error in description and updated MATLAB release number to match latest code.

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