Internal Mechanics change for joint block in mid-simulation with function - Simscape
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Hi all,
my question is: is it possible to modify some parameters in internal mechanics box of a joint block (like a prismatic joint) in Simulink, for example the spring stiffness, to let it assume a value dynamically during the simulation, using a function? This function must receive as input some values that I cannot pass it directly.. Reading other topics it would not seem possible, but does anyone know some tricks?
Thanks in advance!
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Sam Hunt
2021-2-10
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The internal mechanics of a joint cannot change during simulation. They assume constant spring stiffness and damping. One solution for developing a variable spring and damper is to sense the position and velocity of the joint primitive in question and then develop a force law in Simulink that follows the desired behavior. That force can be provided as input to the joint primitive via the Actuation settings of the primitive. This strategy allows users to develop their own custom force laws. The MATLAB Function block in Simulink provides a nice interface for writing a custom force law.
3 个评论
Giacomo Bonafede
2021-2-10
Sam Hunt
2021-2-10
I don't understand your specific situation so it is difficult to say exactly what you need to do. The general strategy is to derive the force-law equations by hand on paper. You then sense relevant quantities from the Simscape Multibody blocks that are required by the force law. You then apply the forces via the Actuation settings in the joint blocks or via equal and opposite External Force and Torque blocks.
Giacomo Bonafede
2021-2-15
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