<4 SIEMENS
ies like NX Motion, the number of iterations can
NX 6 Motion Control Simulation
Co-Simulation with MATLAB®, Simulink®
Using advanced software with simulation capabil
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 Siemens PLM SoftwareSIEMENS
NX Motion Control Simulation i-Vlech
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 Siemens PLM SoftwareSIEMENS
Industries and Tasks:
Aerospace and Defense
Automotive
Control Design
Data Modeling, Analysis, Visualization
Electronics
Industrial Automation and Machinery
Mechanics and Compression Systems
Simulation
VVVVVVVV
Page 3 Siemens PLM SoftwareDescription SIEMENS
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 Siemens PLM SoftwareBie]
NX 6 Motion Control Simulation
Co-Simulation with MATLAB®, Simulink®
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validation
Page 5 Siemens PLM SoftwareSIEMENS
About the Simulink control system file i-Vlech
You create your control system block aiagram in a Simuir@)\a fle. This fle represents the actions of the contol system and should contain an emply
space for the Motion Plant block (which represents the mechanical system).
In the following example control system, represents the space lett in the diagram for the Motion Plant biook.
‘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 Siemens PLM SoftwareSIEMENS
Continued... i-Vlech
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 rom 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 Piant block (shown in the previous animation). The pieces of the plant block are described below.
Motion Plant block structure
@ = Piant inputs (containers for the mechanism state data, such as dsplacements, velocities, and accelerations, defined in NX)
@ = sux object combines mute input signals into vector signals)
@ = information for writing data from RecurDyn to MATLAB,
@ _—_—rimestepisampling time information
@ = information for writing data from MATLAB to RecurDyn
s — 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 Siemens PLM SoftwareSIEMENS
Continued... i-Vlech
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 signals—the input and output arrows are not
labeled, as shown in the following picture.
‘The template fie is the .mal 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 fle 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 Siemens PLM SoftwareNX Motion Control Simulation
Released at NX 6.0
Objectives
Interaction between control devices
and mechanical systems
Motion simulation will embed signal
logic and electronic components.
Users Benefits
Page 9
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
SIEMENS
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SIEMENS
Siemens PLM SoftwareNX 6 Motion Control Simulation SIEMENS
Mechatronics & Control Systems i-Vlech
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 Siemens PLM SoftwareNX 6 Motion Control Simulation SIEMENS
Co-Simulation with MATLAB®, Simulink® i-Vlech
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Page 11 Siemens PLM SoftwareNX 6 Motion Control Simulation SIEMENS
Co-Simulation with MATLAB®, Simulink® i-Vlech
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Page 12 Siemens PLM SoftwareNX 6 Motion Control Simulation
Co-Simulation with MATLAB®, Simulink®
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...
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LALLANX 6 Motion - Control Systems SIEMENS
Integrated PMDC motors and signal input i-Vlech
Page 14 Siemens PLM SoftwareNX 6 Motion Control Simulation
Integrated PMDC motors and signal input
SIEMENS
}-VTech
A a3
Electrical Motor Object Control Slaton Optons
Input parameters as electrical properties eae
Re-usable via PLMXML
Input voltage as a signal
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 —! i |
triggers - 7 [
Allow timer (countdown) oe {
Includes time dependant (absolute) el
PMDC: Permanent Magnetic Direct Current
Page 15 Siemens PLM SoftwareSIEMENS
Digital Lifecycle Simulation {-VTech
Thanks
Further Enquiry contact : Logesh@inno-venture.com
Hp: 65-94522615
Page 16 Siemens PLM SoftwareSIEMENS
Our vision — Setting the pace {-VTech
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 Siemens PLM Software