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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.
Copyright © Siemens PLM Software Inc. 2008. All rights reserved. Siemens PLM Software
2008. All rights reserved. Simulink Copyright © Siemens PLM Software Inc.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. Siemens PLM Software Page 2 .
Siemens PLM Software .Industries and Tasks: Aerospace and Defense Automotive Control Design Data Modeling. Visualization Electronics Industrial Automation and Machinery Mechanics and Compression Systems Simulation Page 3 Copyright © Siemens PLM Software Inc. Analysis. 2008. All rights reserved.
With NX. or velocity inputs. Page 4 Copyright © Siemens PLM Software Inc. 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. you can review the results using powerful postprocessing and animation capabilities within NX. users leverage a common environment for performing design.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. In a typical workflow. Using this capability. To integrate the two models together. Once a simulation is complete. enabling data and model sharing for greater team productivity. motion simulation. All rights reserved. torque. You then specify plant input functions and sensor-based plant outputs within the NX environment. 2008. Control signals provide force. Siemens PLM Software . and NX Motion outputs are fed back to the controller. and advanced structural analysis. you can drag and drop a plant representation into a Simulink block diagram. a mechanical engineer or designer models the mechanical plant in NX Motion while a controls engineer builds a model of the controller in Simulink.
Simulink® Page 5 Copyright © Siemens PLM Software Inc.NX 6 Motion Control Simulation Co-Simulation with MATLAB®. All rights reserved. 2008. Siemens PLM Software .
About the Simulink control system file You create your control system block diagram in a Simulink .mdl file. connecting it between the inputs and outputs of the control system. In the following example control system. Page 6 Copyright © Siemens PLM Software Inc. during the Control System Integration step. 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). Siemens PLM Software . the software generates the Motion Plant. 2008. You drag it into the empty space in your diagram. represents the space left in the diagram for the Motion Plant block. All rights reserved. As shown in the following animation.
Continued… Motion Plant block The Motion Plant block contains the mechanism output data from NX Motion Simulation and packages the controls output from Simulink. and accelerations. The pieces of the plant block are described below. such as displacements. 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). Motion Plant block structure • • • • • • • — Plant Inputs (containers for the mechanism state data. velocities. Siemens PLM Software . The RecurDyn solver creates the plant block automatically from your plant input and plant output objects. defined in NX) Page 7 Copyright © Siemens PLM Software Inc. 2008. All rights reserved. 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.
In NX. there is no need to modify anything in the Motion Plant block. 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.mdl file you specify in the Template Simulink Model File box in the Solution dialog box. as shown in the following picture. Page 8 Copyright © Siemens PLM Software Inc. you define the contents of the Motion Plant by creating the Plant Output and Plant Input motion objects in a Control/Dynamics solution. This copy is then overwritten on subsequent runs of the Control System Integration step. However. Siemens PLM Software . if you have multiple plant inputs and/or plant outputs. the software makes a copy of your template Simulink control system file and places it in the folder where your Motion Simulation file resides. Template file The template file is the .Continued… Typically. 2008. always change the template file and not the copy. 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. All rights reserved. When you run the Control System Integration step. When you make changes to your control system block diagram.
. Siemens PLM Software Mechatronics & Controls Page 9 .0 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. along with mechanical mass/Inertia. revise. Unified environment: Same user interface thus better team work Share data.. sensor settings.a.NX Motion Control Simulation Released at NX 6. configure Copyright © Siemens PLM Software Inc. 2008.k. All rights reserved. input gain.
NX 6 Motion Control Simulation Mechatronics & Control Systems 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. All rights reserved. 2008. torque. 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. velocity… PMDC: Permanent Magnetic Direct Current Page 10 Copyright © Siemens PLM Software Inc. Siemens PLM Software Mechatronics & Controls .
All rights reserved. Simulink® Mouse Mechanical system “Plant” model in NX Torque Input Mechatronics & Controls Page 11 Control System Simulink Sensor Target Copyright © Siemens PLM Software Inc. Siemens PLM Software .NX 6 Motion Control Simulation Co-Simulation with MATLAB®. 2008.
2008. All rights reserved. Simulink® Mechatronics & Controls Page 12 Copyright © Siemens PLM Software Inc.NX 6 Motion Control Simulation Co-Simulation with MATLAB®. Siemens PLM Software .
Siemens PLM Software . acceleration Mechanical system control output Sensors . Controlsystem system Control Copyright © Siemens PLM Software Inc. XY Plot. Trace… Page 13 NX66Motion Motion NX ControlSolution Solution Control Mechatronics & Controls PlantInput: Input:Load. Simulink® Control Solution type Control system file Control sampling time Mechanical system control input Load control: torque. force Driver control: velocity.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.Simulink Simulink MATLAB. Load.Driver Driver Plant PlantOutput: Output:Sensors Sensors Plant MATLAB. 2008. All rights reserved. Clearance.absolute or relative Functions .NX 6 Motion Control Simulation Co-Simulation with MATLAB®.
Control Systems Integrated PMDC motors and signal input Mechatronics & Controls Page 14 Copyright © Siemens PLM Software Inc. Siemens PLM Software .NX 6 Motion . All rights reserved. 2008.
All rights reserved. +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. Page 15 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. 2008.
2008.Digital Lifecycle Simulation Thanks Further Enquiry contact : Logesh@inno-venture.com Hp: 65-94522615 Page 16 Copyright © Siemens PLM Software Inc. Siemens PLM Software . All rights reserved.
All rights reserved.Our vision – Setting the pace A world of proven talent. Siemens PLM Software Page 17 . delivering breakthrough innovations. enabling societies to master their most vital challenges and creating sustainable value. Copyright © Siemens PLM Software Inc. 2008. giving our customers a unique competitive edge.
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