Connect PSMS to Mechanical model

Hello together,

I´m trying to simulate an industrial robot regarding to it´s energy consumption.

The mechanical model is built up in a CAD-program and implemented into SimMechanics. The Motor is the PSMS from SimPowerSystems library. Both, the mech. model and the PMSM, are in two seperate models.

How can I connect the PSMS with the mechanical model, so that the robot is moving?

Should I put the PSMS an the mech. model in one model together or is it possible to connect the two models?

Thank you for your help.

Kind regards

Michael

Answer 1

[Sebastian Castro]

First, download the Simscape Multibody 3D-1D interface blocks from the File Exchange:

http://www.mathworks.com/matlabcentral/fileexchange/37636-simscape-multibody-3d---1d-interface-examples

These blocks let you connect between Simscape 1-D mechanical ports, which the PMSM blocks have, to SimMechanics joints (revolute or prismatic).

If you're using SimPowerSystems Simscape Components, the connection should be straightforward using the blocks above.

If you're using SimPowerSystems Specialized Technology, you can go to the Configuration tab of the PMSM block and change the "Mechanical input" to "Mechanical rotational port". This will expose a Simscape mechanical port you can similarly connect using the interface blocks.

- Sebastian

[Michael Bäumler]

Hallo, thank you for this information.

Now I want to do it in the other way, to get the energy consumption. Therefor I move the mechanical model with a given path (here not included). The PSMS should be connected to the sensing ports at the revolute joint (torque/velocitiy)

How can I connect the model now? And is it possible to add a gear constraint between this joint and motor?

Best regards Michael

[Sebastian Castro]

I think those are 2 different things, unfortunately.

If you want to move the robot, you can set up motion actuation on the joints and measure the required torque to achieve that motion. This blog post explains that very well.

The thing is, to physically connect the PMSM and the SimMechanics model, you have to make sure there is energy transfer and the components are bidirectionally coupled. To do that with the interface blocks, you have to have torque actuation and velocity measurement on the joint.

Also, I am not sure that the PMSM Motor Drive block you are using has the option of exposing a Simscape port. I was thinking about the plain PMSM block which doesn't have all the controls around it...

Hope that helps.

- Sebastian

[Michael Bäumler]

Hallo Sebastian,

thank you for that information.

Do you know an other possibility to realize my purpose? Is there another PSMS Block that I can use to analyze the energy consumption?

Kind regards Michael