Hi Ondrej,
I understand the discrepancies you're facing with the 3D pendulum simulations in Simscape and Sympy. To resolve this issue, you can try the following steps:
- Numerical Solver Consistency: Ensure you're using the same numerical solver and settings in both Simscape and MATLAB's ODE solver. Different solvers can yield varied results, especially in sensitive systems like a 3D pendulum.
- Equations of Motion Verification: Double-check that the equations of motion derived in Sympy match those used by Simscape. Any discrepancy here could lead to divergent simulation behaviors.
- Physical Parameters Alignment: Confirm that all physical parameters such as mass, dimensions, and initial conditions are identical across both models.
- Joint Representation Accuracy: Make sure the spherical joint is represented consistently in both models, as differences in constraints and degrees of freedom can cause variations in the results.
- Linearization Check: If Simscape uses linearization, ensure that the Sympy model is not using the full nonlinear equations, as this could lead to differences in the behavior of the pendulum.
- Symbolic vs. Numeric Differences: Be aware that symbolic computation in Sympy may not translate directly to numeric simulation, potentially introducing errors. Check for any approximations or assumptions in the symbolic derivation.
- Solver Diagnostics: Use MATLAB's solver diagnostics to identify any numerical issues during the simulation that could be causing the observed discrepancies.
I hope this helps!
