MapleSim 3.0 Release Notes
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MapleSim Resources

MapleSim User's Guide
When MapleSim is installed, a printable PDF version of the MapleSim User's Guide is available in <Maple_install_dir>\Maple 13\toolbox\MapleSim3 where <Maple_install_dir> is the directory in which Maple is installed. You can also get the latest versions of all the Maplesoft product manuals from the Maplesoft Documentation Center at www.maplesoft.com/documentation_center.
MapleSim Online Resources
Be sure to check out the MapleSim Online Resources at www.maplesoft.com/products/maplesim. This web site contains valuable resources that can help you use MapleSim. It includes news, updates, training videos, and many example models through the MapleSim Application Center. You can also subscribe to become a Maplesoft Member, giving you access to exclusive premium online content and keeping you informed of new materials as they become available.
Technical Support Resources
If you need assistance after installing MapleSim, visit http://www.maplesoft.com/support/faqs/index.aspx to read the Frequently Asked Questions (FAQ) section. Additional resources, including product updates, free training resources, and links to user forums, are available on the Maplesoft Customer Support site at http://www.maplesoft.com/support.
Contacting Technical Support
If your question or issue is not addressed in the FAQ section, you can request technical support.

If you are a.

Do the following Complete the web form located at http://www.maplesoft.com/contact/webforms/support.aspx or call + 1 (800) 267-6583 ext. 413. For general inquiries and questions related to billing and order status, contact Maplesoft Customer Support by calling +1 (800) 267-6583 ext. 240.
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Contact your local distributor. To find a distributor in your Customer outside of country, visit the USA and Canada http://www.maplesoft.com/contact/international/index.aspx. Sending an E-mail Message to the Technical Support Team (Windows only) If you are using MapleSim in a Microsoft Windows environment, you can send an email message to the Maplesoft Technical Support team by clicking the technical support button ( ) located in the main toolbar.
This button attaches the current MapleSim model to a new message addressed to the Technical Support team.
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1. IntroductiontoMapleSim
Inthischapter,youwillbeintroducedtotheMapleSimenvironment.Usingexamplesincludedwith MapleSim,youwilllearnhowtorunsimulationsandcustomizeyourresults.

UserInterface

Toolbars

ModelWorkspace

Palettes

ParametersPane

3DWorkspace

Console

figure1.1:MapleSimenvironment MapleSimhastwoworkspacesforassemblingyourmodelstheModelWorkspaceand3D
Workspace.Youcantogglebetweentheseviewsusing.TheModelWorkspaceisthemain workareaforcreatingyourMapleSimmodels.The3DWorkspacehastwooperatingmodes, ConstructorandPlayback.TheConstructormodegivesyouapreviewofyourmultibodymodelsasyou arebuildingtheminthemodelworkspace,andalsoallowsyoutobuildmodelsdirectlyinthe3Dspace aswell.ThePlaybackmodeisusedtodisplayfinishedanimationsofyoumultibodymodels.Youcan and. togglebetweenconstructionandplaybackmodeusingtheicons ThePalettesbarcontainsexpandablemenuswithtoolstohelpbuildamodelandmanageyour MapleSimproject.Thispanecontainstwotabs,ComponentsandProject.TheComponentstabcontains paletteswithdomainspecificcomponentstobuildyourmodels,andsamplemodels.TheProjecttab containspaletteswithtoolstohelpbrowseyourmodel,andmanageyourresults. Page2of30
Toolbarscontaintoolsforrunningandviewingsimulations,viewingattacheddocuments,navigating yourmodelhierarchy,andlayingoutyourmodel. TheConsolecontainsthreepanes:Help,Debugging,andMessageConsole.TheHelppanedisplays contextsensitivehelptopicsassociatedwithamodelingcomponent.TheDebuggingpanedisplays diagnosticmessagesasyoubuildyourmodel.TheMessageConsoledisplaysprogressmessages indicatingthestatusoftheMapleSimengineduringasimulation.Youcanchangebetweenthesepanes usingtheicons. TheParametersPanecontainstwotabs,InspectorandPlots,whichchangedependingonyourselection intheModelWorkspace.TheInspectortaballowsyoutoviewandeditmodelingcomponentproperties, suchasnamesandparametervalues,andspecifysimulationparameters.ThePlotstaballowsyouto definecustomlayoutsforsimulationgraphsandplotwindows.
2. WorkingwithaSampleModel
IncludedwithMapleSimisacollectionofexamplemodelsfromdifferentengineeringdomainsandthat areavailablefromtheExamplesPalettes.Toopenamodel,expandtheExamplespaletteandthen expandVisualization.SelectRobotwithFiveDegreesofFreedom.Thiswillloadthemodelintothe workspace.
figure2.1:examplespalette

RunningaSimulation

Torunasimulation,press foundinthetoolbar.Theprogressofyoursimulationisdisplayedinthe MessageConsole.Oncethesimulationiscompleted,theresultsaredisplayedalongwiththe3D visualization.

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GraphicalOutput
Thegraphicaloutputdisplaystheresultsthatwereprobedinthemodel.Resultscanbemanipulated muchlikeanygraphcreatedinMaple.Youcanchangethewayresultsaredisplayedbyrightclickingon aplottobringupthecontextsensitivemenu.Youcanalsodragoneplotontoanotherbyleftclickingon theplotanddraggingitintoanotherplotarea.HoldingCtrlwillcreateacopyofitinthenewplotarea.
figure2.2:graphicaloutput

3DVisualization

Formultibodymodels,3Danimationsarecreatedofyoursimulation.Toviewtheanimation,pressthe playbutton .Youcancustomizetheviewofyouranimationbydoingthefollowing:
Rotate:Hold[Ctrl]+leftmousebuttonwhilemovingthemouse Pan:Hold[Shift]+leftmousebuttonwhilemovingthemouse Zoom:Hold[Alt]+leftmousebuttonwhilemovingthemouse

figure2.3:3Danimation

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3. BuildingModels:CreatingaControlledArm
Inthisexample,youwillusemultibodycomponentstobuildasinglelinkpendulum.Youwillthen expandtheexampletocreateamultidomaincontrolledarmasshownbelow.

figure3.1:finishedmodel

Beforeyoubeginthedemo,makesurethatMapleSimisinthesplitviewthatshowsboththeblock diagramand3Dconstructionenvironment.Clickthesplitviewbutton foundatthebottomleftto turnonthe3Dmodelconstructionview.Youwillbuildthisdemointheblockdiagramenvironmentand usethe3Dviewasarealtimepreviewer.Thisisoneofthemostcommonwaysofusingthenew3D viewertoaccelerateyourmodeldevelopment.Youcouldalsobuildthemultibodyportionsofthemodel inthe3Dviewdirectly. First,usemultibodycomponentstobuildasinglelinkpendulum. Numberof ComponentNameandLocation Symbol Components Multibody>BodiesandFrames>FixedFrames Multibody>JointsandMotions>Revolute

Multibody>BodiesandFrames>RigidBodyFrame
Multibody>BodiesandFrames>RigidBody

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(a) (b) (c)
(d) figure3.2:connectingcomponents (e)
1. DragaFixedFramecomponentintotheworkarea.DragaRevolutecomponentintothework areatotherightoftheFixedFrame. 2. HoverthemouseovertheportoftheFixedFrame(figure3.2a)andagreendotwillappear. Presstheleftmousebutton. 3. MovethemousepointertowardstheleftportoftheRevolute(figure3.2b). 4. Whenthemouseisovertheport,agreendotwillappear(figure3.2c).Presstheleftmouse buttontomaketheconnection. 5. DragaRigidBodyFramecomponentintotheworkareatotherightoftheRevolute. 6. FliptheRigidBodyFramebyrightclickingonthecomponentandselectingFlipHorizontally. 7. ConnecttheRigidBodyFrametotheRevolute(figure3.2d). 8. DragaRigidBodycomponentintotheworkareatotherightoftheRigidBodyFrame. 9. RotatetheRigidBodybyrightclickingonthecomponentandselectingFlipHorizontally. 10. ConnecttheRigidBodytotheRigidBodyFrame(figure3.2e). Withthefirstsectionofthemodelcomplete,youwillnowconnectaprobetorecorddataduringthe simulation. 11. Toconnectaprobe,rightclickonthetoprightportoftheRevoluteandselectAttachProbe. 12. Movetheprobetothedesiredlocationandclicktoplacetheprobe. 13. IntheInspectorpane,checktheboxnexttoAngle,andchangephitoAngle. Onceyouhavecompletedcreatingthemodelasshownabove,changethefollowingparameters.To changeaparameter,selectacomponent.ThiswillopentheInspectortabontherighthandsideofthe screen.Inthistabyouwillfindallparametersassociatedwiththegivencomponent. Component RigidBodyFrame ParameterChange XYZ=[1,0,0]m Thismakesthelink1minlengthinthenegativex directionfromthecenterofmass

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Torunasimulation,pressfoundinthetoolbar.Theprogressofyoursimulationisdisplayedinthe MessageConsole.Oncethesimulationiscompleted,theresultsaredisplayedalongwiththe3D visualization. GraphicalOutput ThegraphicaloutputcanbemanipulatedmuchlikeanygraphcreatedinMaple.Tomanipulateagraph, rightclickontheplottobringupthecontextsensitivemenu.
3DVisualization Toviewthe3Dvisualizationanimation,press.Youcanseethearmswinginglikeapendulum,asyou wouldexpect.Youcancontroltheviewofyouranimationthroughthefollowing: Rotate:Hold[Ctrl]+leftmousebuttonwhilemovingthemouse Pan:Hold[Shift]+leftmousebuttonwhilemovingthemouse Zoom:Hold[Alt]+leftmousebuttonwhilemovingthemouse

figure3.3:graphoutput

figure3.4:animationofarm

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CreatingaCustomComponent
Youwillnowaddfrictiontoyourmodelbycreatingacustomcomponent. 1. Openthedocumentfolderbypressing. 2. Fromthedropdownmenu,selectCustomComponent. 3. ChangethedocumentnametoFrictionComponent,andpressCreateAttachment.Maplewill nowopentheCustomComponentTemplate. 4. UnderComponentDescription,changethecomponentnametoMyFriction. UnderComponentEquations,youwillnowenterintheequationstodefineourcomponent,along withanyparametersandinitialconditions. 5. Fortheequation,enter

ToenterGreeksymbols,suchas(theta)and(tau),youcanusetheGreekpalette. Toinsertdotnotation,press[Ctrl]+[Shift]+[]tomovethecursoroverthevariable,thenusea periodtoinsertthedot. 6. Fortheparameters,enter 7. Tobuildthesystemobject,enter 0.5
figure3.5:customcomponentequations

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8. UnderComponentPorts,pressClearAllPorts.Thiswillremoveallportsfromthecomponent. 9. PressAddPort.Leftclickontheportanddragittothebottomofthecomponent.
figure3.6:definingcomponentports
10. 11. 12. 13. Withtheportselected,fromthePortTypedropdownbox,selectRotationalFlange. FromtheAngledropdownbox,selecttheta(t). FromtheTorquedropdownbox,selecttau(t). PressGenerateMapleSimComponenttocreateyourcomponentblock.Thiswillbringyouback intotheMapleSimenvironment.
ThecustomcomponentwillnowappearintheProjectManagerunderLibraryModels>User.Drag thecustomcomponentintoyourmodelareaandattachittothetoprightportoftherevolute.Run thesimulation.Youwillnoticetheeffectsofthefrictioncomponentintheanimationandplot.
figure3.7:modelwithcustomcomponentblock

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CompletingtheModel
Addthefollowingcomponentstoyourmodeltocreateamultidomainmodelofacontrolledmotorand arm. Numberof Components 1 ComponentNameandLocation Symbol
1DMechanical>Rotational>Sources>AngleSensor
Electrical>Analog>Common>Ground
Electrical>Analog>Sources>Voltage>SignalVoltage
Electrical>Machines>DCMachines>DCPermanentMagnet
SignalBlocks>Common>Constant SignalBlocks>Common>Gain SignalBlocks>Common>Feedback
figure3.8:modelwithcontroller

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Onceyouhavecompletedcreatingthemodelasshownabove,changethefollowingcomponent parameter: Component ParameterChange ConstantSignal k=0 Thisspecifiesthecontrollertoholdtheanglethe linkmakeswiththexaxisaboutthezaxisasclose to0aspossible AttachaprobetothelineconnectingtheDCMotortotheSignalVoltage.IntheInspectorpane,check theboxnexttoCurrent.

CreatingaSubsystem

Creatingasubsystemallowsyoutogroupcomponentstogehterintoasingleblock.Thishelpsto organizeyourmodelbothvisuallyandbyfunction.Wewillcreateasubsystemofthearm. 1. Dragaboxaroundtherevolute,rigidbody,andrigidbodyframecomponents. 2. PressCtrl+Gtocreatethesubsystem.NamethesubsystemArm.PressOK.
figure3.9:creatingasubsystem Youcanexplorethesubsystembydoubleclickingonit,orbyusingthedropdownmodel navigatorandselectingArm1.

CreatingaCustomPlot

Creatingcustomplotsallowsyoutomanagethewaythatyoursimulationresultsaredisplayed. 1. ClickthePlotstabfoundintheupperrighthandcornerofthescreen. 2. Fromthedropdownmenu,selectAddWindow. 3. EnterthewindownameCurrentvsAngle.

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figure3.10:enteringthenameofacustomplot
4. ClickEmptytobringuptheplotoptions. 5. FortheXaxis,selecti(current). 6. FortheYaxis,selectphi(angle). 7. Press torunthesimulation.
figure3.11:defaultandcustomplotoutput

ManagingResults

YoucanquicklysavesimulationresultstorecallorexportatanytimeusingtheProjecttab. 1. ClickontheProjecttablocatednearthetopleftcorner. 2. ExpandthepaletteStoredResults.Hereiswhereyouwillfindtheresultsofyourprevious simulation,alongwithanyprevioussavedresults. 3. SelectRenamethisresulttosaveit.TheInspectortabisnowdisplayedontheright. 4. IntheInspectorwindowunderResult,renamethefiletoGain=1andpress.

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figure3.12:savingresults
Youwillnowreturntothemodelandchangethevalueofthegain,runthesimulation,andcomparethe results. 5. Changethefollowingcomponentparameters: Component Gain 6. Press torunthesimulation.Thenewresultsaredisplayed. 7. ReturntotheProjecttabandselectGain=1,thenundertheInspectortab 8. RightclickontheresultsGain=1andselectView.Theresultsfromthissimulationshouldnow bedisplayed. 9. LeftclickonthelinefoundinthephiplotinGain=1.Whileselected,holddownCtrlanddrag theplotintothephiplotwindowofyourlastsimulationrun.Youshouldnowhavetwored plotsdisplayedinoneplotarea. 10. Tohelpdistinguishbetweenthetwoplots,rightclickononeofthelinesandselectColor>Blue. Repeatthesestepsforthecurrentplot(i).Youcanfurthermanipulateyourplotsifyouwish usingtherightclickoptions. ParameterChange k=2 Increasingthegainwillreducetheerror.
figure3.13:comparisonofresults

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