NX 6 Motion Control Simulation

Co-Simulation with MATLAB, Simulink

Using advanced software with simulation capabilities like NX Motion, the number of iterations can
be decreased by building virtual prototypes and performing a complete dynamic analysis on a virtual
machine. Any 3D CAD model can be used as a basis for a mechatronic analysis with NX.

Starting with NX6 it is possible to execute a controller integrated simulation in the Motion
environment, which actually is the key feature for a comprehensive Mechatronic analysis. The virtual
machine is now not only mechanics but is equipped with the motion intelligence, drives and controllers just
like the real system. This brings up the possibility to do a deep analysis on a virtual machine and see what
performance can be reached and how much a control system can improve this performance. The controller
can be tuned for the virtual machine which in itself decreases the time to setup the real machine later.

Through integrated simulation using NX6 and Matlab/Simulink, it is also possible to perform a
system identification and a modal analysis (first steps of any Mechatronic analysis). This procedure is very
common in controller tuning theory and can be used in Matlab to perform controller analysis.

Page 1

Copyright Siemens PLM Software Inc. 2008. All rights reserved.

Siemens PLM Software

NX Motion Control Simulation

Mechanism simulation allowing closed-loop control using Simulink
(cosimulation)
Highlights:
Cosimulation of control systems coupled with multibody dynamics
Embedded electric motor models
CAD and PLM integrated solution ensuring faster product development
Works with NX Advanced Simulation for follow-on structural analysis
Particularly suited for collaboration between mechanical and control engineers

Platforms: Windows
SIEMENS products required : NX6 with Motion Simulation
MathWorks products required: MATLAB, Simulink

Page 2

Copyright Siemens PLM Software Inc. 2008. All rights reserved.

Siemens PLM Software

Industries and Tasks:

Aerospace and Defense

Automotive
Control Design
Data Modeling, Analysis, Visualization
Electronics
Industrial Automation and Machinery
Mechanics and Compression Systems
Simulation

Page 3

Copyright Siemens PLM Software Inc. 2008. All rights reserved.

Siemens PLM Software

Description
SIEMENS leading global provider of product lifecycle management (PLM) software
and services. It enables cosimulation of controller designs based on Simulink that have
multibody dynamics models in NX. Using this capability, mechanical engineers and
designers can collaborate more effectively with their counterparts developing controller
designs to find and fix integration issues and to optimize product performance. With NX,
users leverage a common environment for performing design, motion simulation, and
advanced structural analysis, enabling data and model sharing for greater team productivity.
In a typical workflow, a mechanical engineer or designer models the mechanical plant
in NX Motion while a controls engineer builds a model of the controller in Simulink. Control
signals provide force, torque, or velocity inputs, and NX Motion outputs are fed back to the
controller. You then specify plant input functions and sensor-based plant outputs within the
NX environment. To integrate the two models together, you can drag and drop a plant
representation into a Simulink block diagram. Once a simulation is complete, you can review
the results using powerful postprocessing and animation capabilities within NX.

Page 4

Copyright Siemens PLM Software Inc. 2008. All rights reserved.

Siemens PLM Software

NX 6 Motion Control Simulation

Co-Simulation with MATLAB, Simulink

Page 5

Copyright Siemens PLM Software Inc. 2008. All rights reserved.

Siemens PLM Software

About the Simulink control system file

You create your control system block diagram in a Simulink .mdl file. This file represents the actions of the control system and should contain an empty
space for the Motion Plant block (which represents the mechanical system).
In the following example control system, represents the space left in the diagram for the Motion Plant block.

As shown in the following animation, during the Control System Integration step, the software generates the Motion Plant. You drag it into the empty
space in your diagram, connecting it between the inputs and outputs of the control system.

Page 6

Copyright Siemens PLM Software Inc. 2008. All rights reserved.

Siemens PLM Software

Continued
Motion Plant block
The Motion Plant block contains the mechanism output data from NX Motion Simulation and packages the controls output from Simulink. The RecurDyn
solver creates the plant block automatically from your plant input and plant output objects. You can see the plant block structure when you run the control
system integration by double-clicking the Motion Plant block (shown in the previous animation). The pieces of the plant block are described below.

Motion Plant block structure

Plant Inputs (containers for the mechanism state data, such as displacements, velocities, and accelerations, defined in NX)

Mux object (combines multiple input signals into vector signals)

Information for writing data from RecurDyn to MATLAB

Timestep/sampling time information

Information for writing data from MATLAB to RecurDyn

Demux object (extracts and outputs vector signals to scalar)

Plant Outputs (containers for the inputs to the mechanism from the control system, defined in NX)

Page 7

Copyright Siemens PLM Software Inc. 2008. All rights reserved.

Siemens PLM Software

Continued
Typically, there is no need to modify anything in the Motion Plant block. However, if you have multiple plant inputs and/or plant outputs, you may need to
open the Motion Plant block to determine which input and output arrows to connect to the control system signalsthe input and output arrows are not
labeled, as shown in the following picture.

In NX, you define the contents of the Motion Plant by creating the Plant Output and Plant Input motion objects in a Control/Dynamics solution.

Template file
The template file is the .mdl file you specify in the Template Simulink Model File box in the Solution dialog box. When you run the Control System
Integration step, the software makes a copy of your template Simulink control system file and places it in the folder where your Motion Simulation file
resides. The name of the simulation is appended to the copy of the control system file name and the copy is saved in the folder that contains your Motion
Simulation file. This copy is then overwritten on subsequent runs of the Control System Integration step.
When you make changes to your control system block diagram, always change the template file and not the copy.

Page 8

Copyright Siemens PLM Software Inc. 2008. All rights reserved.

Siemens PLM Software

NX Motion Control Simulation

Released at NX 6.0

Mechatronics & Controls

Objectives
 Interaction between control devices
and mechanical systems
 Motion simulation will embed signal
logic and electronic components
Users Benefits
 Electro-mechanical products simulation:
 Optimize control system design a.k.a.
sensor settings, input gain, along with
mechanical mass/Inertia...
 Unified environment:
 Same user interface thus better team
work
 Share data, revise, configure

Page 9

Copyright Siemens PLM Software Inc. 2008. All rights reserved.

Siemens PLM Software

NX 6 Motion Control Simulation

Mechatronics & Control Systems

Mechatronics & Controls

Co-Simulation w/ Simulink (from MathWorks)

Control with the most popular Math Software
 Control loop system in Simulink
 Mechanical Plant in NX Motion
 Controls Torque, Force, Velocity
 Monitors any Motion output
 Sampling time
 Post-Process in NX
PMDC motor and voltage signal
Mechatronics and Mechanical Design
 Fully integrated modeling
 Open or closed loop signal
 Customizable and re-usable
 Post-Process current, torque, velocity
PMDC: Permanent Magnetic Direct Current
Page 10

Copyright Siemens PLM Software Inc. 2008. All rights reserved.

Siemens PLM Software

NX 6 Motion Control Simulation

Co-Simulation with MATLAB, Simulink

Mechanical system
Plant model in NX

Mechatronics & Controls

Mouse

Torque Input

Control System
Simulink

Sensor
Target

Page 11

Copyright Siemens PLM Software Inc. 2008. All rights reserved.

Siemens PLM Software

NX 6 Motion Control Simulation

Co-Simulation with MATLAB, Simulink

Mechatronics & Controls

Page 12

Copyright Siemens PLM Software Inc. 2008. All rights reserved.

Siemens PLM Software

NX 6 Motion Control Simulation

Co-Simulation with MATLAB, Simulink

Mechatronics & Controls

Control Solution type

 Control system file
 Control sampling time
Mechanical system control input
 Load control: torque, force
 Driver control: velocity, acceleration
Mechanical system control output
 Sensors - absolute or relative
 Functions - complex operations
NX Interface with Simulink
 Integration within the control system
 Run co-simulation
Solve and Post-Process
Compare different control systems
and validate using Animation, XY Plot,
Clearance, Trace
Page 13

NX66Motion
Motion
NX
ControlSolution
Solution
Control

PlantInput:
Input:Load,
Load,Driver
Driver
Plant
PlantOutput:
Output:Sensors
Sensors
Plant

MATLAB,Simulink
Simulink
MATLAB,
Controlsystem
system
Control

Copyright Siemens PLM Software Inc. 2008. All rights reserved.

Siemens PLM Software

NX 6 Motion - Control Systems

Integrated PMDC motors and signal input

Mechatronics & Controls

Page 14

Copyright Siemens PLM Software Inc. 2008. All rights reserved.

Siemens PLM Software

NX 6 Motion Control Simulation

Integrated PMDC motors and signal input
Electrical Motor Object
 Input parameters as electrical properties
 Re-usable via PLMXML
 Input voltage as a signal
Mechatronics & Controls

Signal Chart
 Input for motor as ratio of nominal voltage
(more likely to be 0, +1 or -1)
 Open loop time dependant only
 Uses Function Manager: afu, preview
 Closed loop
 Sequence of events following sensor
triggers
 Allow timer (countdown)
 Includes time dependant (absolute)

PMDC: Permanent Magnetic Direct Copyright

Current Siemens PLM Software Inc. 2008. All rights reserved.
Page 15

Siemens PLM Software

Digital Lifecycle Simulation

Thanks
Further Enquiry contact : Logesh@inno-venture.com
Hp: 65-94522615

Page 16

Copyright Siemens PLM Software Inc. 2008. All rights reserved.

Siemens PLM Software

Our vision Setting the pace

A world of proven talent,

delivering breakthrough innovations,
giving our customers a unique
competitive edge,
enabling societies to master their
most vital challenges
and creating sustainable value.

Page 17

Copyright Siemens PLM Software Inc. 2008. All rights reserved.

Siemens PLM Software