RoboNation Resources
- Model-Based Design
- Vehicle and Environmental Modeling
- Control Design and Simulation
- System Testing and Validation
- Rapid Prototyping and Hardware-in-the Loop Testing
Vehicle and Environment Modeling
Introduction
-
MathWorks tools provide a single environment to model the many components and physical domains that make up a vehicle, such as the motors, batteries, dynamics, and external disturbance effects. These models provide the engineer a system-level understanding of how the vehicle will perform through simulation. The models enable control design development. There are three main methods for obtaining a model; data-driven modeling, first-principles modelin,g and combination of both.
-
Data-Driven Modeling
-
Using the System Identification Toolbox, engineers can create a data-driven model of a vehicle using measured input-output data. This is particularly useful when the model is difficult to describe by first principles.
-
-
First Principles Modeling
-
Utilizing MathWorks physical modeling tools, engineers can access component libraries to quickly develop vehicle architecture models. CAD Import can be used to import a CAD into SimMechanics. Engineers creating models for flight vehicles have the option of using DATCOM functionality in the Aerospace Toolbox to model their vehicle.
-
-
Data-Driven and First-Principles Modeling
- Higher fidelity component models can be developed to provide a better plant model for controller design for closed looped simulation. The Simulink Design Optimization toolbox can be used estimate and tune model parameters using input-output data and numerical optimization.
Modeling Tools for Vehicle Modeling and Simulation
- Simscape: Model and simulate multi-domain systems
- SimDriveline: Model and simulate mechanical driveline systems
- Simscape Electrical: Model and simulate electronic, mechatronic, and electrical power systems
- SimHydraulics: Model and simulate fluid power and controls systems
- SimMechanics: Model and simulate 3-D mechanical systems
- System Identification: Construct mathematical models of dynamic systems from measured input-output data
- Simulink Design Optimization: Estimate and tune model parameters using test data and numerical optimization
Examples
-
Data-Driven modeling
- Modeling a Vehicle Dynamic System - Use system identification to create a model
- Modeling an Aerodynamic Body - Use system identification to create a model
-
First Principles Modeling
- Mobile Robot Simulation for Collision Avoidance and Control - Use CAD Import to model a mobile robot
- Hybrid Vehicle Model in Simulink - Model a hybrid vehicle using physical modeling tools
- Quadrotor Modeling and Control with SimMechanics - Use physical modeling tools to model a Quadcopter
- Lightweight Airplane Design - Use DATCOM to model an aircraft
- Servomotor modeling with SimMechanics and SimElectronics - Use physical modeling tools to model a servomotor
-
Combination of Data-Driven and First Principles Modeling
- DC Servo Motor Parameter Estimation - Use physical modeling tools with test data to estimate the parameters of a DC Servo Motor model
- Quad-Sim - Use test data and geometric characteristics to model a quadcopter
Webinars/Videos
-
Data Driven Modeling
-
First Principles Modeling
-
Data Driven and First Principles Modeling
-
Ground/Aquatic Vehicle
