SimScape MultiBody Solver Step Time - Simulation running longer

Hello,

I am currently working on a multibody model in simscape. I have the following issue:

My simulation time last too much. I set a stop time of 10sec but it lasts around 45sec.

I try to fix that through Configuration parameters -> Solver -> Solver selection fixed-step of 0.0002. But again it lasts 45sec and for bigger fixed-step size (0.002) then an error apears for degenerate mass distribution on different joints.

Could you please give me few ideas or directions to solve this?

Answer 1

[Oliver Jaehrig]

You can try to investigate this issue by using the Solver Profiler:

https://www.mathworks.com/help/simulink/ug/examine-solver-behavior-using-solver-profiler.html

It can better help you to understand why your model maybe needs more time and maybe you can find some potential ways to optimize your model in terms of speed.

Also it would be good to provide more information what your goal is, it sounds like you neeed a model running in real-time? Do you know if you want to run the model on a HIL (hardware in the loop)-system?

If yes, also consider checking this Simscape documentation:

https://www.mathworks.com/help/simscape/real-time-simulation.html

https://www.mathworks.com/company/technical-articles/real-time-simulation-of-physical-systems-using-simscape.html

[Panagiotis]

Thank you Oliver,

That was really helpful. Solver Profiler helped to detect the issue and fix it.