Co-Simulación

ADAMS - MATLAB

Este documento presenta un extracto de Adams Tutorial Kit for Mechanical

Engineering Courses desarrollado por MSC Software, con el objetivo de difundir la
información en forma académica y sin intenciones de plagio, todos los derechos son de MSC
Software.
Supplemental Adams Tutorial Kit | for Design of Machinery Course Curriculum

Example 34: DC Motor

Software Version
Adams 2013.2

Problem Description
• Build a simple DC motor connected to an output shaft in both
MATLAB/Simulink and Adams/View
• Compare the results of two different simulation methods
• Note: copy all the files in the start file to working directory before you
start.
• This example is created in collaboration with Prof. Frank Owen at
California Polytechnic State University.

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 Section V: Adams/MATLAB Co-simulation | Example 34: DC Motor

Step 1: Build the Model in Simulink

a. The schematic of a permanent magnet servo motor is
shown below.

Step 2: Simulate the Model in Simulink

a. Run the file Motor_initialize.m to set necessary
b. Apply Kirchoff’s Voltage Law to the circuit, where vi is
parameters for simulation.
vi � vL � vR � vb = 0
the input voltage, vL and vR are voltage across the
inductor and resistor separately. vb is the back EMF
proportional to the motor’s speed, i.e.,

vb = K b ×q
c. Now, substitute this and write the expression for
voltage drop in terms of armature current,

diA
vi � LA � RA ×iA � K b ×q = 0
dx

d. The torque output by the motor is proportional to the

armature current,

Tm = K t ×iA
e. The dynamics of the shaft is.

Tm � c ×q = J ×q

f. Now we have all the necessary equations to describe

the system. Put the higher order derivatives on the left
hand side.
diA 1
= (vi � RA ×iA � K b ×q)
dx LA
1
q = (Tm � c ×q)
J
g. Now, build the model in Simulink. Open motor_full.
slxThe part highlighted by red rectangle is the
mechanical part which will later be replaced by an
Adams subsystem.

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Supplemental Adams Tutorial Kit | for Design of Machinery Course Curriculum

b. Simulate the model for 3 seconds. Step 5: Add Constraints

c. The scopes should show the following curves.
a. From the tool bar, select Settings->Working Grid
Step 3: Create New Model in Adams/View
a. Open Adams/View and select New Model.
b. Set Model Name as motor_shaft.
c. Click OK.
d. Change the model unit from millimeter to meter.

Step 4: Create the Shaft

a. From the Bodies ribbon, select Rigid Body: Cylinder.
b. Select New Part and check Length and Radius. Set
them to 10cm and 1cm respectively.
c. Pick the origin as the first end and click anywhere on
the x axis.

b. Change the orientation of the grid to YZ plane. This

would help us to utilize the Normal to Grid feature when
creating the revolute joint.
c. From Connectors ribbon, select Revolute Joint.
d. Leave the settings as default (2 Bod-1 Loc, Normal to
Grid) and pick shaft first and then ground. Pick shaft.

d. The shaft should be created as shown below.

e. Rename the part as shaft.

MARKER_1 as the location.

e. The front view (shift + F) should be similar to the figure.

Step 6: Add Rotational Damping

a. From the Forces ribbon, select Rotational Spring-
Damper.

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 Section V: Adams/MATLAB Co-simulation | Example 34: DC Motor

b. Set the construction method to 2 Bod-1 Loc and

Normal to Grid.
c. Do not check KT as we do not need a spring here.
d. Check CT and set it to 0.0001 (N*m*s/rad).
e. Pick shaft first then ground and choose shaft.cm as
the location

Step 7: Add Motor Torque

a. From the Forces ribbon, select Toque.
b. Set the Run-time Direction as Space Fixed.
c. Set Construction to Normal to Grid.
d. Pick shaft as the body and pick shaft.MARKER_1 as
the action point.
e. Move your mouse around and align it with Marker_1.X.
Step 8: Create Measurement
Reference Angle

f. Similarly, select Marker_1.Y as Y-axis.

g. A new marker should be added to ground. In the model
a. First check the orientation of the shaft.cm. Notice how tree, expand Bodies->ground and rename the new
X, Y, Z axes are oriented. This is important for creating marker as ang_ref.
correct measurement.
b. From the Bodies ribbon, select Construction Geometry: Step 9: Create State Variables
Marker. a. State variables act as the parameters that Simulink and
c. Select Add to Ground and for Orientation, select X-Axis, Adams exchange with each other. They work either as
Y-Axis. input or output to the Adams model. In our model, the
d. Select shaft.Marker_1 as the origin. input is the motor torque and the output is the angular
displacement, angular velocity or any other type of
physical quantities that are the result of the motor
torque input.
b. From Elements ribbon, select System Elements: Create
a State Variable.

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Supplemental Adams Tutorial Kit | for Design of Machinery Course Curriculum

b. Right click in the Function box and select Function

Builder.
c. Set the variable name as motor_torque. Leave the
rest settings as default. The value will be passed by
Simulink once the simulation starts.
d. Create a new variable named theta. This time, type
AZ(shaft.cm, ang_ref) in the function dialog box.

c. Type -VARVAL(motor_torque). This expression builds a

function that is equal to the value of the adams variable
motor_torque during the runtime. Since motor_torque
is later defined as an input controlled by Simulink, we
are controlling the shaft with a torque that is input from
Simulink model. Note that there is a minus sign here. It
is not necessarily to add a minus sign at this stage. If
it is found out in later simulation that the out data has
opposite sign as expect, a minus sign can be added

e. Create a new variable named omega. Type WZ(shaft.

cm, ang_ref, ang_ref) in the function dialog box. Note
that detailed information about functions AZ and WZ
can be found in Adams Help Document.
f. The latter two will be the output of the model.

Step 10: Modify Torque and Damping

a. Right click on SFORCE_1 and select Modify.

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 Section V: Adams/MATLAB Co-simulation | Example 34: DC Motor

then..
d. Click OK.
e. Right click on TORSION_SPRING_1 and then select
Modify.

b. Right click in the field of Input Signals, select Adams_

f. Under Stiffness and Damping, choose No Stiffness.

g. Click Ok.

Step 11: Load Adams/Controls Plugin

a. From the tool bar, select Tools->Plugin Manager. Variable->Browse.
c. From the Database Navigator, double click motor_

b. Check Adams/Controls plugin. torque.

d. Similarly, choose omega and theta for Output Signals.
Step 12: Export Plant
e. Choose MATLAB as Target Software.
a. From the Plugins ribbon, select Controls: Plant Export. f. Leave the rest fields as default.

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Supplemental Adams Tutorial Kit | for Design of Machinery Course Curriculum

d. Type adams_sys in the command window and

then press Entrer. This will bring a Simulink model
containing an Adams subsystem. This may take a while.

g. Click OK.
h. Now in the working directory, four new files can be
found. They are Controls_Plant_1.adm, Controls_
Plant_1.m, aviewAS.cmd, Controls_Plant_1.cmd.
e. Now, open motor_full.slx and replace the mechanical
Step 13: Build Co-simulation Model part with Adams subsystem copied from adam_sys.
a. From the exercise file directory, copy Motor_initialize.m Don’t forget to copy and replace the scopes as well
and post_processing_plot.m to the working directory. otherwise the post_processing_plot.m in later steps
b. Start MATLAB and run Motor_initialize.m to initialize won’t work.
motor parameters.
c. Run Controls_Plant_1.m. You will see the following lines
in the command window.

f. Double click on the scope omega. Click on the gear

icon on the upper left corner to enter parameter setting
of scope.
g. Click on History tab. Check Save data to workspace
and name Variable name as omega. Repeat this step
with theta scope with Variable name theta.
h. Save the model as motor_cosim.slx.
i. Run the simulation for 3 seconds.
j. The scopes show the following results.

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 Section #: Section Title | Example Title

Step 14: Compare Simulation Results

a. Run post_processing_plot.m.
b. It is found that the two simulation results are identical.

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