Matlab Simdriveline 1
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Model and simulate the mechanics of driveline systems
SimDriveline extends Simulink with tools for modeling and simulating the mechanics of driveline (drivetrain) systems. These tools include components such as gears, rotating shafts, and clutches; standard transmission templates; and engine and tire models. SimDriveline is optimized for ease of use and speed of calculation for driveline mechanics. It is integrated with MathWorks control design and code generation products, enabling you to design controllers and test them in real time with the model of the mechanical system. SimDriveline can be used for a variety of automotive, aerospace, defense, and industrial applications. It is particularly suited to the development of controllers for automotive and aerospace transmission systems.
Rear KEY FEATURES Differential
Modeling environment for defining the mechanics of a driveline system in Simulink Library of common gear configurations Library of dynamic elements, including clutches and rotational stops, torque converters, and torsional spring-dampers Templates for common transmission systems Basic models of vehicle components, including engines, longitudinal vehicle dynamics, and tires
2 Clutch Pressures
CD E B A
Lepelletier 7-Speed Transmission
Transmission Drive Shaft Differential
5 Vertical Load Right
Differential 4 Vertical Load Left 3 Car Speed
Omega Vx Fz
I O2 O1
2 Tire Force Left
Wheel Speed 1
Wheel Speed 2 3
Through the network block diagram interface, SimDriveline enables you to build powertrain models with detailed driveline components.
4 Tire Force Right
Modeling Environment for Driveline Systems
SimDriveline provides an efficient way to build driveline models in the Simulink environment. You use a block-diagram network description to represent the system. The blocks represent components, such as gears, clutches, and torque converters. The lines that connect the blocks represent rotating components, such as drive shafts. In SimDriveline, you have access to all Simulink functionality. Using sensor blocks, you can measure values for velocity, acceleration, and torque and pass these signals into
SimDriveline 1.0 Copyright (c) 1998-2004 The MathWorks, Inc.
SimDriveline provides fundamental tools for building sophisticated gear systems.
Solver & Inertias
Sensors & Actuators
standard Simulink blocks. Actuator blocks enable Simulink signals to define values for driving torques or prescribed motion parameters for shafts. SimDriveline provides an efficient alternative to full 3-D mechanical simulators because
it focuses exclusively on rotating machinery mechanics. Motion for each shaft is restricted to rotation about a single axis. As a result, you assign mass properties for each shaft through a single component of inertia. Tracking only rotational velocity for each shaft results in rapid simulation execution.
Libraries of Common Gear Configurations
SimDriveline lets you develop both simple and complex gear systems. Predefined blocks are provided for the basic gear configurations. You characterize these blocks by assigning the appropriate gear ratio. You can combine these simple configurations to create more complex gear systems, such as those found in transmissions. SimDriveline also provides models for commonly used complex gear systems, such as Ravigneaux gear sets and differentials.
Simple Two Clutch Model
Clutches and Other Dynamic Elements
SimDriveline includes a library of dynamic elements that, together with the gear sets, provide a complete set of driveshaft connectors. For example, the Controllable Friction Clutch models the action of a clutch as it engages and then locks shafts moving at different rotational speeds. The Controllable Friction Clutch employs a kinetic friction model for the transition and a static friction model for the locked condition. SimDriveline also includes the following dynamic elements:
Vel Motion Sensor Inertia 2
Pressure P B F
Initial Condition B Inertia 1 Env Driveline Environment Tor F
Clutch Pressure Sec Trigger
Controllable Friction Clutch 1
Controllable Friction Clutch 2
Torque Converterlets you model fluidThe network description efficiently represents the driveline system. You can easily define drive shaft properties and connect the model to standard Simulink blocks. bearing connections
Standard schematics label each gear block to show which arrangement of gears and carriers it represents.
The Vehicle Components library includes the following:
Gasoline and Diesel Engine blocksfor
modeling the relationship between torque, engine speed, and throttle, with the throttle value assigned through a Simulink input signal
Tire modelfor evaluating the forces and Hard Stoplets you include backlash in
your driveline and account for the resultant power loss
SimDriveline includes simple vehicle component models that let you model a complete powertrain and its impact on a vehicles motion performance. These models enable early evaluation of overall system performance. As with the transmission templates, you can add the detail required for your own powertrain and vehicle dynamics models.
moments associated with the tire-road interaction and calculating the rotational speed of the tire and wheel axle
Longitudinal Vehicle Dynamics model
for evaluating the response of the vehicle to the accelerations and torques generated by the driveline
Torsional Spring-Damperlets you model
a damped torsional spring with backlash
SimDriveline provides models for the Lepelletier 6- and 7-speed, Simpson 4-speed, and Ravigneaux 4-speed transmissions. These subsystems can be used as templates to guide you in modeling your transmission systems. You can modify the topology of the model or values for gear ratios, shaft inertias, and clutch characteristics through the component blocks in the model. The Lepelletier 7-speed transmission block masks the detailed model.You can use the standard transmission sample models as templates.
LePelletier 7 Speed Model
Large Sun Inertia
Ravigneaux Ring Inertia
P B M F
B C E A
Ravigneaux Carrier Inertia
Planetary Carrier Inertia
Planetary Sun Inertia
Small Sun Inertia
Double-click to show Clutch Schedule
Vehicle Components Library
Simple vehicle component models included in SimDriveline.
T ott t
Multidomain Physical Modeling in Simulink
SimDriveline provides expanded capabilities for simulating physical systems in Simulink. Standard Simulink blocks define a transfer function between input and output signal flows. For applications such as control systems design and signal processing, this approach is natural, practical, and functional. Modeling interactions among components in mechanical systems requires a broader paradigm. For example, unidirectional signal flow is inadequate for modeling mechanical bodies that are exerting forces on each other. With SimDriveline, you can create a control system as a standard unidirectional signal flow block diagram and then connect this model to a physical plant, modeled using a mixture of traditional Simulink blocks and the specialized physical modeling blocks in SimDriveline.
Real-Time Workshop. Generate optimized, portable, and customizable code from Simulink models SimMechanics. Model and simulate mechanical systems SimPowerSystems. Model and simulate electrical power systems Stateflow. Design and simulate event-driven systems xPC Target. Perform real-time prototyping and hardware-in-the-loop simulation using PC hardware For more information on related products, visit www.mathworks.com/products/simdriveline
x zf r
Longitudinal Vehicle Dynamics
You can deploy your SimDriveline models using code generated with Real-Time Workshop (available separately). The generated code can be used to:
Platform and System Requirements
For platform and system requirements, visit www.mathworks.com/products/simdriveline
Build stand-alone executables of your
SimDriveline models that can be integrated into C programs or other MATLAB and Simulink models
Run hardware-in-the-loop simulations by
deploying SimDriveline plant models onto real-time processors that interface directly with hardware
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Improve the simulation speed of your
model by compiling the C code
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2004 by The MathWorks, Inc. MATLAB, Simulink, Stateflow, Handle Graphics, and Real-Time Workshop are registered trademarks, and TargetBox is a trademark of The MathWorks, Inc. Other product or brand names are trademarks or registered trademarks of their respective holders.
Model and simulate mechanical driveline systems
Introduction SimDriveline provides component libraries for modeling and simulating one-dimensional mechanical systems. It includes models of rotational and translational components, such as worm gears, planetary gears, lead screws, and clutches. You can use these components to model the transmission of mechanical power in helicopter drivetrains, industrial machinery, vehicle powertrains, and other applications. Automotive components, such as engines, tires, transmissions, and torque converters, are also included. SimDriveline models can be converted into C code for real-time testing of controller hardware. Learn more about physical modeling. Key Features Common gear configuration models, including planetary, differential, and worm gears with meshing and viscous losses Clutch models, including cone, disk friction, unidirectional, and dog clutch Vehicle component models, including engine, tire, torque converter, and vehicle dynamics models Models of translational elements, including leadscrew, rack and pinion, and translational friction Ideal and nonideal model variants, enabling adjustment of model fidelity Ability to extend component libraries using the Simscape language Ability to specify units for parameters and variables, with automatic unit conversion Support for C-code generation from SimDriveline models (with Simulink Coder)
Cross-section of dual clutch transmission (top) and associated SimDriveline model. The colored blocks correspond to gears and the dog clutches that control gear selection.
Modeling Drivetrain Systems SimDriveline provides libraries of one-dimensional mechanical components. You can connect components, such as planetary gears, clutches, and brakes, to model your mechanical system. The models you create can be grouped into subsystems, making them easier to read and reuse. In addition to the traditional input-output or signal flow connections used in Simulink, SimDriveline uses physical connections that permit the flow of power in any direction. Models built using physical connections (also referred to as acausal models) closely resemble the physical system they represent, and are easier to understand and share with others.
SimDriveline libraries (clockwise from top left): clutches, couplings, gears, and tires.
Many of the component models in SimDriveline let you adjust the level of fidelity. You can choose to include or neglect certain effects, such as meshing and viscous losses, and as a result, balance the tradeoff between model fidelity and simulation speed.
Dialog box for SimDriveline simple gear model. You can select the fidelity level of the friction model.
Creating Custom Components You can add components from other physical modeling products to your SimDriveline model. The foundation library in Simscape contains blocks in other physical domains, such as electrical, hydraulic, and thermal. Integrating these domains into your SimDriveline model using physical connections helps expand your models range of effects. The Simscape language, an object-oriented language that is based on MATLAB, enables you to create your own physical modeling components and libraries. You can define custom components, complete with parameterization, physical connections, and equations represented as acausal implicit differential algebraic equations (DAEs). Within your components Simscape language file you can use MATLAB to analyze parameter values, perform preliminary computations, and initialize system variables. The Simulink block and dialog box for your custom component are automatically created from the file.
Simscape language file (left) used to create a custom gear box. The file automatically generates a Simulink Gear Box block and dialog box. Simulating Drivetrain Systems You can combine SimDriveline models with Simulink control system models for dynamic simulation. The simulations can be run on your desktop (variable step) or in a real-time environment (fixed step). Every aspect of your simulation can be automated using scripts in MATLAB, including configuring the model, entering simulation settings, and arranging sets of simulations. You can use optimization algorithms to automatically tune parameters in simulation. This approach enables you, for example, to find designs that minimize weight or minimize fuel consumption. To accelerate optimization tasks and other design studies that require many simulations, you can use Parallel Computing Toolbox to distribute your SimDriveline simulations across multiple cores or a cluster of computers.
Analyzing Drivetrain Systems All of the data from your SimDriveline model can be saved automatically to the MATLAB workspace. Using MATLAB, the results of your simulation can be analyzed, plotted, animated, and saved into many different file formats. You can perform tasks such as analyzing the frequency response of the powertrain, comparing simulation runs to improve fuel economy, and verifying the timing of clutch events during the simulation. When combined with Simulink Report Generator, the results of SimDriveline simulations can be automatically saved in a report, along with screenshots of the model, plots, and other information. Performing Hardware-in-the-Loop (HIL) Simulations SimDriveline models can be configured specifically for real-time simulation and converted to C code, enabling you to perform HIL tests. Many components in SimDriveline can be configured to use abstracted behavioral models, ideal for real-time simulation. Using Simscape local solvers, you can speed up your simulation by using a fixed-step solver for your physical system and independently choosing a different solver for the rest of your model.
Solver configuration for dual-clutch transmission model. A stiff fixed-step solver is used for the physical system (shaded pink) and an independent fixed-step solver is used for the rest the model (shaded blue).
You can generate C code from your SimDriveline models using Simulink Coder. The generated code can be used to run HIL simulations on real-time processors that interface directly with hardware. This enables you to test your control algorithms without relying on hardware prototypes. Deploying Drivetrain Models You can deploy SimDriveline models using code generated with Simulink Coder. The generated code lets you: Build stand-alone executables of SimDriveline models that can be integrated into C programs or other MATLAB and Simulink models Run HIL simulations by deploying SimDriveline plant models onto real-time processors that interface directly with hardware Improve simulation speed by compiling the C code
Share models without exposing your intellectual property Sharing Models You can share SimDriveline models with Simscape users who have not purchased SimDriveline. Simscape users can view, simulate, and change parameter values in SimDriveline models by leveraging the Simscape Editing Mode. As a result, your team can share SimDriveline models with a larger group of engineers who use Simscape.
Working with SimDriveline Models Task Model Developer (Purchases Simscape and SimDriveline) Simulate Log data or change visualization Change numerical parameters Generate code with Simulink Coder Change block parameterization options Make or break physical connections X X Model User (Purchases Simscape)
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