Maplesoft MAPLESIM user guide

MapleSim User's Guide

2008-2010

MapleSim User's Guide

Maplesoft, MapleSim, and Maple are all trademarks of Waterloo Maple Inc. © Maplesoft, a division of Waterloo Maple Inc. 2001-2010. All rights reserved. No part of this book may be reproduced, stored in a retrieval system, ortranscribed, in any form or by anymeans

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Introduction .................................................................................................. vii

1 Getting Started with MapleSim ........................................................................ 1

1.1 Physical Modeling in MapleSim ................................................................ 1

Acausal and Causal Modeling ................................................................... 2

1.2 The MapleSim Window ........................................................................... 5

1.3 Basic Tutorial: Modeling an RLC Circuit and DC Motor ................................ 7

Building an RLC Circuit Model .................................................................. 7

Specifying Component Properties ............................................................. 11

Adding a Probe ..................................................................................... 11

Simulating the RLC Circuit Model ............................................................ 12

Building a Simple DC Motor Model .......................................................... 13

Simulating the DC Motor Model ............................................................... 15

2 Building a Model ........................................................................................ 17

2.1 The MapleSim Component Library .......................................................... 17

Viewing Help Topics for Components ........................................................ 18

2.2 Browsing a Model ................................................................................ 18

Model Tree ........................................................................................... 18

Model Navigation Controls ...................................................................... 19

2.3 Dening How Components Interact in a System ......................................... 20

2.4 Specifying Component Properties ............................................................ 21

Specifying Parameter Units ...................................................................... 21

Specifying Initial Conditions ................................................................... 22

2.5 Creating and Managing Subsystems ......................................................... 23

Example: Creating a Subsystem ................................................................ 23

Viewing the Contents of a Subsystem ........................................................ 25

Adding Multiple Copies of a Subsystem to a Model ...................................... 26

Editing Subsystem Denitions and Shared Subsystems ................................. 28

Working with Stand-alone Subsystems ....................................................... 32

2.6 Global and Subsystem Parameters ............................................................ 34

Global Parameters .................................................................................. 34

Subsystem Parameters ............................................................................ 36

Creating Parameter Blocks ...................................................................... 38

2.7 Attaching Files to a Model ...................................................................... 42

2.8 Creating and Managing Custom Libraries .................................................. 43

Example: Adding Subsystems and Attachments to a Custom Library ............... 43

2.9 Annotating a Model ............................................................................... 45

Example: Adding a Text Annotation to a Model ........................................... 46

2.10 Entering Text in 2-D Math Notation ........................................................ 47

2.11 Creating a Data Set for an Interpolation Table Component ........................... 48

Example: Creating a Data Set in Maple ...................................................... 48

2.12 Best Practices: Building a Model ........................................................... 49

iii

iv • Contents

Best Practices: Laying Out and Creating Subsystems .................................... 49

Best Practices: Building Electrical Models .................................................. 50

Best Practices: Building 1-D Translational Models ....................................... 52

Best Practices: Building Multibody Models ................................................. 53

Best Practices: Building Hydraulic Models ................................................. 53

3 Creating Custom Modeling Components .......................................................... 55

3.1 Overview ............................................................................................ 55

3.2 Opening Custom Component Examples .................................................... 56

3.3 Example: Nonlinear Spring-Damper Component ......................................... 56

Opening the Custom Component Template ................................................. 58

Dening the Component Name and Equations ............................................. 58

Dening Component Ports ....................................................................... 59

Generating the Custom Component ........................................................... 60

3.4 Working with Custom Components in MapleSim ........................................ 61

3.5 Editing a Custom Component .................................................................. 62

4 Simulating and Visualizing a Model ................................................................ 63

4.1 How MapleSim Simulates a Model .......................................................... 63

4.2 Simulating a Model .............................................................................. 66

Simulation Parameters ............................................................................ 66

Editing Probe Values .............................................................................. 70

Storing Parameter Sets to Compare Simulation Results ................................. 70

4.3 Simulation Progress Messages ................................................................. 71

4.4 Managing Simulation Results ................................................................. 71

4.5 Customizing Plot Windows .................................................................... 72

Example: Plotting Multiple Quantities in Individual Graphs ........................... 73

Example: Plotting One Quantity Versus Another ......................................... 76

4.6 Plot Window Toolbar and Menus ............................................................. 78

4.7 Visualizing a Multibody Model ................................................................ 78

The 3-D Workspace ................................................................................ 79

Viewing and Browsing 3-D Models ........................................................... 80

Adding Shapes to a 3-D Model ................................................................. 81

Building a Model in the 3-D Workspace ..................................................... 85

Example: Building a Double Pendulum Model in the 3-D Workspace ............... 88

4.8 Best Practices: Simulating and Visualizing a Model .................................... 96

5 Analyzing and Manipulating a Model ............................................................. 97

5.1 Overview ............................................................................................ 97

5.2 Retrieving Equations and Properties from a Model ..................................... 99

5.3 Analyzing Linear Systems .................................................................... 100

5.4 Optimizing Parameters ......................................................................... 101

5.5 Generating C Code from a Model ........................................................... 102

5.6 Working with Maple Embedded Components ........................................... 103

6 MapleSim Tutorials .................................................................................... 105

6.1 Tutorial 1: Modeling a DC Motor with a Gearbox ...................................... 105

Contents • v

Adding a Gearbox to a DC Motor Model .................................................. 105

Simulating the DC Motor with Gearbox Model .......................................... 106

Grouping the DC Motor Components into a Subsystem ............................... 107

Assigning Global Parameters to a Model ................................................... 108

Changing Input and Output Values .......................................................... 109

6.2 Tutorial 2: Modeling a Cable Tension Controller ....................................... 111

Building a Cable Tension Controller Model ............................................... 111

Specifying Component Properties ............................................................ 113

Simulating the Cable Tension Controller ................................................... 113

6.3 Tutorial 3: Modeling a Nonlinear Damper ................................................ 114

Generating a Custom Spring Damper ....................................................... 114

Providing Damping Coefcient Values ..................................................... 115

Building the Nonlinear Damper Model .................................................... 116

Assigning a Parameter to a Subsystem ..................................................... 118

Simulating the Nonlinear Damper with Linear Spring Model ........................ 119

6.4 Tutorial 4: Modeling a Planar Slider-Crank Mechanism .............................. 120

Creating a Planar Link Subsystem ........................................................... 121

Dening and Assigning Parameters ......................................................... 124

Creating the Crank and Connecting Rod Elements ...................................... 124

Adding the Fixed Frame, Sliding Mass, and Joint Elements .......................... 125

Specifying Initial Conditions .................................................................. 126

Simulating the Planar Slider-Crank Mechanism .......................................... 126

7 Reference: MapleSim Keyboard Shortcuts ...................................................... 129

Glossary ..................................................................................................... 131

Index ......................................................................................................... 133

vi • Contents

Introduction

MapleSim Overview

MapleSimTMis amodeling environment forcreating andsimulating complexmulti-domain physical systems.It allowsyou tobuild component diagrams that represent physical systems in a graphicalform. Usingboth symbolic andnumeric approaches,MapleSim automatically generates model equations from a component diagram and runs high-delity simulations.

Build Complex Multi-domain Models

You can use MapleSimto buildmodels thatintegrate componentsfrom variousengineering elds intoa completesystem. MapleSimfeatures alibrary ofover 300modeling components, including electrical, hydraulic, mechanical, and thermal devices; sensors and sources; and signal blocks.You can also createcustom componentsto suityour modelingand simulation needs.

Advanced Symbolic and Numeric Capabilities

MapleSim uses the advanced symbolic and numeric capabilities of MapleTMto generate the mathematicalmodels thatsimulate thebehavior ofa physical system. Youcan, therefore, apply simplication techniques to equations to create concise and numerically efcient models.

Pre-built Analysis Tools and Templates

MapleSim providesvarious pre-builttemplates inthe formof Mapleworksheets for viewing model equations and performing advanced analysis tasks, such as parameter optimization. To analyze your model and present your simulation results in an interactive format, you can useMaple featuressuch asembedded components,plotting tools,and documentcreation tools. You can also translate your models into C code and work with them in other applications and tools, including applications that allow you to perform real-time simulation.

Interactive 3-D Visualization Tools

The MapleSim 3-D visualization environment allows you to build and animate 3-D graphical representations of your multibody mechanical system models. You can use this environment to validate the 3-D conguration of your model and visually analyze the behavior of your system under different conditions.

vii

viii • Introduction

1 Getting Started with MapleSim

In this chapter:

• Physical Modeling in MapleSim (page 1)

• The MapleSim Window (page 5)

• Basic Tutorial: Modeling an RLC Circuit and DC Motor (page 7)

1.1 Physical Modeling in MapleSim

Physical modeling,or physics-basedmodeling, incorporatesmathematics andphysical laws to describe the behavior of an engineering component or a system of interconnected components. Sincemost engineeringsystems haveassociated dynamics,the behavioris typically dened with ordinary differential equations (ODEs).

To help youdevelop models quicklyand easily, MapleSim providesthe following features:

Topological or “Acausal” System Representation

The signal-ow approach used by traditional modeling tools requires system inputs and outputs to be dened explicitly. In contrast, MapleSim allows you to use a topological representation to connect interrelated components without having to consider how signals ow between them.

Mathematical Model Formulation and Simplification

A topological representation maps readily to its mathematical representation and the symbolic capability of MapleSim automates the generation of system equations.

When MapleSimformulates thesystem equations,several mathematicalsimplication tools are applied to remove any redundant equations and multiplication by zero or one.The simplication tools then combine and reduce the expressions to get a minimal set of equations required to represent a system without losing delity.

Advanced Differential Algebraic Equation Solvers

Algebraic constraints areintroduced in the topologicalapproach to model denition.Problems that combine ODEs with these algebraic constraints are called Differential Algebraic Equations (DAEs).Depending onthe natureof theseconstraints, the complexity of the DAE problem can vary. An index of the DAEs provides a measure of the complexity of the problem. Complexity increases with the index of the DAEs.

The development ofgeneralized solvers for complex DAEs is the subject of much research in the symbolic computation eld. With Maple as its computation engine, MapleSim uses

2 • 1 Getting Started with MapleSim

advanced DAE solvers that incorporate leading-edge symbolic and numeric techniques for solving high-index DAEs.

Acausal and Causal Modeling

Real engineered assemblies, such as motors and powertrains, consist of a network of interacting physical components. They are commonly modeled in software by block diagrams. The lines connecting two blocks indicate that they are coupled by physical laws.

When simulatedby software,block diagramscan eitherbe causalor acausal.Many simulation tools arerestricted tocausal (or signal-ow) modeling. Inthese tools,a unidirectionalsignal, which is essentially a time-varying number, ows into a block. The block then performs a well-dened mathematicaloperation on the signal andthe resultows out of the otherside. This approach is useful for modeling systems that are dened purely by signals that ow in a single direction, such as control systems and digital lters.

This approach isanalogous to an assignment,where a calculation isperformed on a known variable orset ofvariables on the right handside andthe result is assigned toanother variable on the left:

Modeling how real physical components interact requires a different approach. In acausal modeling, a signalfrom two connected blocks travels in both directions. The programming analogy would be a simple equality statement:

The signalincludes informationabout whichphysical quantities(for example,energy, current, torque, heat and mass ows) must be conserved. The blocks contain information about which physical laws(represented by equations) they must obey and, hence, which physical quantities must be conserved.

1.1 Physical Modeling in MapleSim • 3

MapleSim allows you to use both approaches. You can simulate a physical system (with acausal modeling)together with the associated logic or controlloop (with causal modeling) in a manner that suits either task best.

Through and Across Variables

When using the acausal modeling approach, it is useful to identify the through and across variables ofthe componentyou aremodeling. In general terms, anacross variablerepresents the driving force in a system and a through variable represents the ow of a conserved quantity:

For example, in an electrical circuit, the through variable, i, is the current and the across variable, V, is the voltage drop:

The following table lists some examples of through and across variablesfor other domains:

AcrossThroughDomain

Electrical Mechanical (transla-

tional) Mechanical (rotation-

al) Hydraulic

Heat ow

Voltage (V)Current (A) Velocity (m/s)Force (N)

Angular Velocity (rad/s)Torque (N.m)

Pressure (N/ )Flow ( /s) Temperature (K)Heat ow (W)

As a simple example, the form of the governing equation for a resistor is

This equation,in conjunctionwith Kirchhoff’sconservation ofcurrent law,allows acomplete representation of a circuit.

and

4 • 1 Getting Started with MapleSim

To extend this example, the following schematic diagram describes an RLC circuit, an electrical circuit consisting of a resistor, inductor, and a capacitor connected in series:

If you wanted to model this circuit manually, it can be represented with the following characteristic equations for the resistor, inductor, and capacitor respectively:

By applying Kirchhoff's current law, the following conservation equations are at points a, b, and c:

These equations, along with a denition of the input voltage (dened as a transient going from 0 to 1 volt, 1 second after the simulation starts)

provide enough information to dene the model and solve for the voltages and currents through the circuit.

In MapleSim, all of these calculations are performed automatically; you only need to draw the circuit and provide the component parameters. These principles can be applied equally

1.2 The MapleSim Window • 5

to allengineering domainsin MapleSimand allowyou toconnect componentsin onedomain with components in others easily.

In the Basic Tutorial: Modeling an RLC Circuit and DC Motor (page 7) section of this chapter, you will model the RLC circuit described above. The following image shows how the RLC circuit diagram appears when it is built in MapleSim.

1.2 The MapleSim Window

In the default view, the MapleSim window contains the following panes and components:

6 • 1 Getting Started with MapleSim

DescriptionComponent

Contains tools for running a simulation, attaching

1. Main toolbar

2. Navigation toolbar

3. Model workspace toolbar

4. Palettes pane

MapleSim analysistemplates toyour model, and performing other common tasks.

Contains tools for browsing your model and subsystems hierarchically, and changing the model view.

Contains tools for laying out and selecting objects, and adding elements such as annotations and probes.

Contains expandable menus withtools that you can use to build a model and manage your MapleSim project. This pane contains two tabs:

• Libraries tab: containspalettes withsample modelsand

domain-specic componentsthat youcanadd tomodels.

• Project tab: contains palettes with tools to help you

browse and build a model, and manage simulation results, probes, and documents that you attach to a model.

5. Model workspace

6. Console

7. Parameters pane

The area in which you build and edit a model in a block diagram view.

Contains the following panes:

• Help pane: displays the help topic associated with a

modeling component.

• Message Console pane: displaysprogress messages in-

dicating the status of the MapleSim engine during a simulation.

• Debugging pane: displays diagnostic messages as you

build your model. You can use the buttons below the console ( ) to display each pane.

Contains the following tabs:

• Inspector tab: allows you to view and edit modeling

component properties, such as names and parameter

values, andspecify simulationoptions andprobe values.

• Plots tab: allowsyou todene customlayouts forsimu-

lation graphs and plot windows. The contentsof thispane changedepending onyour selec-

tion in the model workspace.

MapleSim alsoprovides a3-D workspacethat youcan use to build, animate,and manipulate 3-D multibodymodels. Formore information,see Visualizinga Multibody Model (page 78) in Chapter 4.

1.3 Basic Tutorial: Modeling an RLC Circuit and DC Motor • 7

1.3 Basic Tutorial: Modeling an RLC Circuit and DC Motor

This tutorial introduces you to the modeling components and basic tools in MapleSim. It illustrates the ability to mix causal models with acausal models.

In this tutorial, you will perform the following tasks:

1. Build an RLC circuit model.

2. Set parameter values to specify component properties.

3. Add probes to identify values of interest for the simulation.

4. Simulate the RLC circuit model.

5. Modify the RLC circuit diagram to create a simple DC motor model.

6. Simulate the DC motor model using different parameters.

Building an RLC Circuit Model

To buildthe RLC circuitdiagram, youadd componentsin the modelworkspace andconnect them ina system.In this example, the RLCcircuit modelcontains ground,resistor, inductor, capacitor, and signal voltage source components from the Electrical component library. It also contains a step input source, which is a signal generator that drives the input voltage level in the circuit.

8 • 1 Getting Started with MapleSim

1. Inthe Librariestab at theleft ofthe modelworkspace, click the triangle besideElectrical to expand the palette. In the same way, expand the Analog menu, and then expand the Passive submenu.

2. From the Electrical → Analog → Passive menu, drag the Ground component to the model workspace.

3. Add the remaining electrical components to the model workspace.

1.3 Basic Tutorial: Modeling an RLC Circuit and DC Motor • 9

• From the Electrical → Analog → Passive→ Resistors menu, addthe Resistorcompon-

ent.

• From the Electrical → Analog → Passive → Inductors menu, add the Inductor com-

ponent.

• From the Electrical → Analog → Passive → Capacitors menu, add the Capacitor

component.

• From the Electrical → Analog → Sources → Voltage menu, add the Signal Voltage

component.

4. Drag the components in the arrangement shown below.

5. To rotate the Signal Voltage component clockwise, right-click (Control-click for Macintosh®) the Signal Voltage component in the model workspace and select Rotate Clockwise.

6. To ip the component horizontally, right-click (Control-click for Macintosh) the component again and select Flip Horizontal. Make sure that the positive (blue) port is at the top.

7. Torotate theCapacitor component clockwise,right-click (Control-click forMacintosh) the Capacitor icon in the model workspace and select Rotate Clockwise.

You can now connect the modeling components to dene interactions in your system.

8. Hover your mouse pointer over the Ground component port. The port is highlighted in green.

10 • 1 Getting Started with MapleSim

9. Click the Ground input port to start the connection line.

10. Hover your mouse pointer over the negative port of the Signal Voltage component.

11. Click the port once. The Ground component is connected to the Signal Voltage com- ponent.

12. Connect the remaining components in the arrangement shown below.

You can now add a source to your model.

13. Expand theSignal Blocks palette. Expand theSources menu and then expand the Real submenu.

14. From the palette, drag the Step source and place it to the left of the Signal Voltage component in the model workspace.

The step source has a specic signal ow, which is represented by the arrows on the connections. This ow causes the circuit to respond to the input signal.

15. Connect the Step source to the Signal Voltage component. The complete RLC circuit model is displayed below.

1.3 Basic Tutorial: Modeling an RLC Circuit and DC Motor • 11

Specifying Component Properties

To specify component properties, you can set parameter values for components in your model.

1. In the model workspace, click the Resistor component. The Inspector tab at the right of the model workspace displays the name and parameter values of the resistor.

2. In the R eld, enter 24, and press Enter. The resistance is changed to 24

3. Specify the following parameter values for the other components. You can specify units for a parameter by selecting a value from the drop-down menu found beside the parameter value eld.

• For the Inductor, specify an inductance of .

• For the Capacitor, specify a capacitance of 200

• For the Step source, specify a value of 0.1 s.

Adding a Probe

To specify data values for a simulation, you must attach probes to lines or ports to the model. In this example, you will measure the voltage of the RLC circuit.

1. In the model workspace toolbar, click the probe button ( ).

2. Hover your mouse pointer over the line that connects the Inductor and Capacitor

components. The line is highlighted.

3. Left-click the line once. The probe is displayed in the model workspace.

4. Drag the probe to position it and then click the probe once to place it on the line.

5. Select the probe. The probe properties are displayed in the Inspector tab at the right of

the model workspace.

6. Select the Voltage check box to include the voltage quantity in the simulation graph.

7. To display a custom name for this quantity in the model workspace, enter Voltage as shown below and press Enter.

12 • 1 Getting Started with MapleSim

The probe is added to the connection line.

Simulating the RLC Circuit Model

Before simulatingyour model,you canspecify theduration for which to run the simulation.

1. Click a blank area in the model workspace.

2. Inthe Inspector tab at theright of the model workspace,set the simulation end time( ) to 0.5 seconds and press Enter.

3. Click the simulation button ( ) in the main toolbar. MapleSim generates the system equations and simulates the response to the step input.

1.3 Basic Tutorial: Modeling an RLC Circuit and DC Motor • 13

When the simulation is complete, the voltage response is plotted in a graph.

4. Save the modelas RLC_Circuit1.msim. The probes and modied parameter values are

saved as part of the model.

Building a Simple DC Motor Model

You will now add an electromotive force (EMF) component and a mechanical inertia component to the RLC circuit modelto create a DC motor model. Inthis example, you will add components to the RLC circuit model using the search feature.

1. In the Libraries tab, in the Search eld located above the palettes, type EMF. A drop-

down list displays your search results.

14 • 1 Getting Started with MapleSim

2. Select Rotational EMF from the drop-down list. The Rotational EMF component is displayed in the square beside the search eld.

3. From the square beside the search eld, drag the Rotational EMF component to the modeling workspace and place it to the right of the Capacitor component.

4. In the search pane, search for Inertia.

5. Add theInertia component to the model workspace and placeit to the right of the Rota- tional EMF component.

6. Connect the components as shown below.

Note: To connect the positive blue port of the Rotational EMF component, click the port once, drag your mouse pointer to the line connecting the capacitor and inductor, and click the line.

7. In the model workspace, click the Rotational EMF component.

8. In the Inspectortab, change the value of the transformation coefcient (k) to 10 .

9. Click the Step component and change the value of the parameter, , to 1.

1.3 Basic Tutorial: Modeling an RLC Circuit and DC Motor • 15

Simulating the DC Motor Model

1. In the model workspace, delete Probe1.

2. In the model workspace toolbar, click the probe button ( ).

3. Hover your mouse pointer over the line that connects the Rotational EMF and Inertia components.

4. Left-click the line and then left-click the probe once to position it.

5. Select the probe.

6. In the Inspectortab, selectthe Speedand Torque check boxes.The probe,with anarrow indicating the direction of the conserved quantity ow, is added to the model.

7. Click a blank area in the model workspace.

8. In the Inspectortab, setthe simulationend time ( )to 5 seconds and clickthe simulation button ( ) in the main toolbar.

The following graphs are displayed.

9. Save the model as DC_Motor1.msim.

16 • 1 Getting Started with MapleSim

2 Building a Model

In this chapter:

• The MapleSim Component Library (page 17)

• Browsing a Model (page 18)

• Dening How Components Interact in a System (page 20)

• Specifying Component Properties (page 21)

• Creating and Managing Subsystems (page 23)

• Global and Subsystem Parameters (page 34)

• Attaching Files to a Model (page 42)

• Creating and Managing Custom Libraries (page 43)

• Annotating a Model (page 45)

• Entering Text in 2-D Math Notation (page 47)

• Creating a Data Set for an Interpolation Table Component (page 48)

• Best Practices: Building a Model (page 49)

2.1 The MapleSim Component Library

The MapleSim component library contains over 300 components that you can use to build models. All of thesecomponents are organized in palettes according to their respective domains: electrical, hydraulic, 1-D and multibody mechanical, thermal, and signal blocks. Most of these components are based on the Modelica® Standard Library.

DescriptionLibrary

Electrical

Hydraulic

1-D Mechanical

Multibody Mechanical

Signal Blocks

Components to modelelectrical analog circuits,singlephase and multiphase systems, and electric machines.

Components to model hydraulic systems such as uid power systems, cylinders, and actuators.

Components to model 1-D translational and rotational systems.

Components to model multibody mechanical systems, including force, motion, and joint components.

Components tomanipulateor generateinput andoutput signals.

Components to model heat ow and heat transfer.Thermal

The library also contains sample models that you can view and simulate, for example, complete electrical circuits and lters. For more information about the MapleSim library

18 • 2 Building a Model

structure and modeling components, see the MapleSim Library Reference Guide in the MapleSim help system.

To extendthe defaultlibrary,you cancreate acustom modelingcomponent froma mathematical model and add it to a custom library. For more information, see Creating Custom Modeling Components (page 55).

Viewing Help Topics for Components

In thehelp panebelow themodel workspace,you canview thehelp topic for each component from the MapleSimcomponent library. To display the help pane, click the help pane button

( ) at the bottom of the MapleSim window. You can then select a component that you have addedto the modelworkspace toview itshelp topic.Alternatively, toview help topics, you can perform one of the following tasks:

• Right-click (Control-clickfor Macintosh®)a modelingcomponent in any of thepalettes and select Help from the context menu.

• Search for the help pages for components in the MapleSim help system.

2.2 Browsing a Model

Using the Model Tree palette or model navigation controls, you can browse your model to view hierarchical levels of components in the modelworkspace. You can browse to the top level for an overall view of your system. The top level is the highest level of your model: it represents the complete system, which can include individual modeling components and subsystem blocks that represent groups of components. You can also browse to sublevels in your model to view the contents of individual subsystems or components.

Model Tree

To browse your model, you can use the Model Tree palette in the Project tab located on the left side of the MapleSim window. Each node in the model tree represents a modeling

2.2 Browsing a Model • 19

component, subsystem, or connection port in your model. For example, the model tree of a DC motor is shown below.

To browse your model and view the parameters associated with a component or subsystem, expand and double-click the nodes in the model tree. You can double-click the Main node to viewthe top levelof your model and thechild nodes to view thecontents of a component or subsystem.

Model Navigation Controls

Alternatively, youcan usethe model navigation controls located above the model workspace toolbar to browse between modeling components, subsystems, and hierarchical levels in a diagram displayed in the model workspace.

From the drop-down menu, select the name of the subsystem or modeling component that you want to view in the model workspace. You can click the Main button to browse to the top level of your model. You can also browse directly to subsystems in your model. For example, by clicking the button in the example shown above, you can view the

DC motor subsystem contents in the model workspace.

20 • 2 Building a Model

2.3 Defining How Components Interact in a System

To dene interactions between modelingcomponents, you connectthem in a system. In the model workspace, you can draw a connection line between two connection ports.

You can also draw a connection line between a port and another connection line.

MapleSim permits connections between compatible domains only. By default, each line type is displayed in a domain-specic color.

Line ColorDomain

BlackMechanical 1-D rotational GreenMechanical 1-D translational BlackMechanical multibody BlueElectrical analog BlueElectrical multiphase PurpleDigital logic PinkBoolean signal Navy blueCausal signal OrangeInteger signal RedThermal

The connection ports for each domain are also displayed in specic colors and shapes. For more information about connection ports, see the MapleSim Library Reference → Con- nectors Overview topic in the MapleSim help system.

2.4 Specifying Component Properties • 21

2.4 Specifying Component Properties

To specify component properties, you can set parameter values for components in your model. When you select a component in the model workspace, the congurable parameter values for that component are displayed in the Inspector tab located on the right side of the MapleSim window.

Note: Not all components provide editable parameter values. You enter parameter values in 2-D math notation, which is a formatting option that allows

you to add mathematical text such as superscripts, subscripts, and Greek characters. For more information, see Entering Text in 2-D Math Notation (page 47).

Specifying Parameter Units

You can use thedrop-down menus besideparameter elds withdimensions to specify units for parameter values. For example, the image below displays the congurable parameter

elds for a Sliding Mass component. You can optionally specify the mass in kg, , , or slug, and the length in m, cm, mm, ft, or in.

When you simulate a model, MapleSim automatically converts all parameter units to the International System of Units (SI). Youcan, therefore, selectmore than one system of units for parameter values throughout a model.

If you want to convert the units of a signal, use the Unit Conversion Block component from the Signal Converters menu in the Signal Blocks palette. This component allows you to perform conversions in dimensions such as time, temperature, velocity, pressure, and volume. In the following example, a Unit Conversion Block component is connected

22 • 2 Building a Model

between a translational Position Sensor and Feedback component to convert the units of an output signal.

If you include an electrical, 1-D mechanical, hydraulic, or thermal sensor in your model, you can also select the units in which to generate an output signal.

Specifying Initial Conditions

You can set parameter values to specify initial conditions for many electrical, hydraulic, and 1-D mechanical components, including capacitors, hydraulic pipes, and mechanical springs and dampers. When you select a component that contains state variables in the model workspace, the available initial condition elds are displayed in the Inspector tab, along with the other congurable parameter values for that component.

For example, the image below displays the initial velocity and position elds that you can set for a Sliding Mass component.

2.5 Creating and Managing Subsystems • 23

2.5 Creating and Managing Subsystems

A subsystem (or compound component) is a set of modeling components that are grouped in a single block component. A sample DC motor subsystem is shown below.

You can createa subsystemto groupcomponents thatform acomplete system,for example, a tire or DC motor. You can also create a subsystem to improve the layout of a diagram in the model workspace, add multiple copies of a system to a model, or analyze a component group in Maple. You can organize your model hierarchicallyby creating subsystemswithin other subsystems.

For bestpractices on creating subsystems in MapleSim, seeBest Practices: Laying Out and Creating Subsystems (page 49).

Example: Creating a Subsystem

In the following example, you will group the electrical components of a DC motor model into a subsystem.

1. In the Libraries tab on the left side of the MapleSim window, expand the Examples palette, expand the Tutorial menu, and then open the Simple DC Motor example.

24 • 2 Building a Model

2. Using the selection tool( ) located above the modelworkspace, draw abox around the

electrical components.

3. From the Edit menu, select Create Subsystem.

4. In the dialog box, enter DC Motor.

5. Click OK. A white block, which represents the DC motor, is displayed in the model

workspace.

In thisexample, you created a stand-alonesubsystem, which can be editedand manipulated independently of other subsystems in your model. If you wantto add multiple copies of the same subsystem to your model and edit those subsystems as a group, you can create a sub-

system denition. For more information, see Adding Multiple Copies of a Subsystem to a Model (page 26).

2.5 Creating and Managing Subsystems • 25

Viewing the Contents of a Subsystem

To view the contents of a subsystem, double-click the subsystem icon in the model workspace. The detailed view of a subsystem is displayed.

In this view, a broken line indicates the subsystem boundary. You can edit the connection lines and components within the boundary, add and connect components outside of the boundary, and add subsystem ports to connect the subsystem to other components. If you want toresize theboundary,click thebroken line and drag oneof thesizing handlesdisplayed around the box.

To browse to the top level of the model or to other subsystems, use the controls in the navigation toolbar.

26 • 2 Building a Model

Adding Multiple Copies of a Subsystem to a Model

If you plan to add multiple copies of a subsystem to a model and want all of the copies to have the same conguration, you cancreate a subsystemdenition. A subsystem denition is the base subsystem that denes the attributes and conguration that you want a series of subsystems to share.

For example,if you want to add three DCmotor subsystemsthat all have identical components and resistance values in your model, you would perform the following tasks:

1. Build a DC motor subsystem with the desired conguration in the model workspace

2. Use that subsystem conguration to create a subsystem denition and and add it to the

Denitions palette, and

3. Add copies of the DC motor subsystem to your model using the subsystem denition as

a source. To add copies of the DC motor subsystem to your model, you can drag the DC Motor sub-

system denition icon from the Denitions palette and place it in the model workspace. The copies that you add to the model workspace will then share a conguration that is identical to the subsystem denition in the Denitions palette; the copies in the model workspace are called shared subsystems because they share and refer to the conguration specied in their corresponding subsystem denition.

Shared subsystems that are copied from the same subsystem denition are linked, which means that changes that you make to one shared subsystem will be reected in all of the other shared subsystemsthat werecreated from thesame subsystemdenition. The changes are also reected in the subsystem denition entry in the Denitions palette.

Using the example shown above, if you change the resistance parameter of the Resistor component in the shared subsystem from 24 to 10 , the resistance value

2.5 Creating and Managing Subsystems • 27

of the Resistor component in the and shared subsystems and the

DC Motor subsystem denition in the Denitions palette will also be changed to 10 .

For moreinformation, see EditingSubsystem Denitions and SharedSubsystems (page 28).

Example: Adding Subsystem Definitions and Shared Subsystems to a Model

In thefollowing example,you willcreate aDC Motor subsystem denition and add multiple shared subsystems to your model.

Adding a Subsystem Definition to the Definitions Palette

1. In the model workspace, right-click (Control-click for Macintosh) the stand-alone DC motor subsystem that you created in Example: Creating a Subsystem (page 23).

2. From the context menu, select Convert to Shared Subsystem.

3. Enter DC Motor as the name for the subsystem denition and click OK.

4. Inthe Projecttab on the left sideof themodel workspace, expand the Denitionspalette and then expand the Subsystems menu.

The subsystem denition is added to the Denitions palette and the subsystem in the model workspace is converted into a shared subsystem called . This shared

subsystem is linked to the DC Motor subsystem denition. You can now use this subsystem denition to add multiple DC motor shared subsystems

to your MapleSim model.

28 • 2 Building a Model

Tip: If you wantto usea subsystemdenition inanother model,add thesubsystem denition to a custom library. For more information, see Creating and Managing Custom Librar- ies (page 43).

Adding Multiple DC Motor Shared Subsystems to a Model

To add multiple DC Motor shared subsystems to a model, drag the DC Motor subsystem denition icon from the Denitions palette and place it in the model workspace.

When you create a new stand-alone subsystem or add shared subsystems to a model, a unique subscript number is appended to the subsystem name displayed in the model workspace. As shown in the image above, subscript numbers are appended to the namesof each DC Motor shared subsystem. These numbers can help you to identify multiple subsystem copies in your model.

Editing Subsystem Definitions and Shared Subsystems

If you edit a shared subsystem in the model workspace, your changes will be reected in the subsystem denition that is linked to the shared subsystem, as well as other shared subsystems that were copied from the same subsystem denition.

Example: Editing Shared Subsystems that are Linked to the Same Subsystem Definition

In this example, you will edit the resistance values and subsystem icons in a model that contains two DC motor shared subsystems called and .

These shared subsystems are linked to a subsystem denition called RobotMotor. When you changethe resistancevalue inone RobotMotorshared subsystem,the otherRobotMot- or shared subsystem and RobotMotor shared subsystems that you add in the future will contain the changes.

2.5 Creating and Managing Subsystems • 29

To start, both RobotMotor shared subsystems in this model have a resistance value of 30

1. In the Libraries tab on the left side of the MapleSim window, expand the Examples palette, expand the Multidomain menu, and then open the Sumobot example.

2. Inthe model workspace,double-click the shared subsystem.The detailed view of the shared subsystem is displayed.

Note that a heading with the subsystem denition name (RobotMotor) followed by the shared subsystem name (RobotMotor1) is displayed at the top of the model workspace.In the detailed view of all shared subsystems, this heading is displayed to help you identify multiple subsystem copies in your model. Also, when you select a shared subsystem, its subsystem denition name is displayed in the Type eld in the Inspector tab.

3. Select the Resistor component ( ) and, in the Inspector tab, change the resistance value to 50 .

4. In the navigation toolbar, click the icon view button ( ).

30 • 2 Building a Model

5. Using the rectangle tool( ) in themodel workspace toolbar, click and dragyour mouse

pointer to draw a shape in the box.

6. In the navigation toolbar, click the diagram view button ( ).

7. Click Main in the navigation toolbar to browse to the top level of the model. Both of the

RobotMotor shared subsystems now display the square that you drew.

8. In the Project tab on the left side of the MapleSim window, expand the Denitions

palette, and thenexpand theSubsystems menu. As shown inthe imagebelow,your changes are also reected in the RobotMotor entry displayed in this palette.

2.5 Creating and Managing Subsystems • 31

If you double-click the RobotMotor subsystems in the model workspace and select their Resistor components, you will also see that both of the shared subsystems now have a res-

istance value of 50

9. From the Denitions palette, drag a new copy of the RobotMotor subsystem and place it anywhere in the model workspace. The new copy displays the square that you drew and

its resistance value is also 50

Example: Removing the Link Between a Shared Subsystem and its Subsystem Definition

If your model contains multiple shared subsystems that are linked and youwant to edit one copy only, you canremove thelink betweena sharedsubsystem andits subsystem denition, and edit that subsystem without affecting others in the model workspace.

1. In the Libraries tab on the left side of the MapleSim window, expand the Examples palette, expand the Multidomain menu, and then open the Sumobot example.

2. In the model workspace, right-click (Control-click for Macintosh) the shared subsystem.

3. Select Convertto Stand-alone Subsystem. The subsystem isno longer linked to the RobotMotor subsystem denition in the Denitions palette; it is now called

copy of

4. Double-click the shared subsystem.

5. Click the icon view button ( ).

6. Using the rectangle tool ( ), click and drag your mouse pointer to draw a shape in the box in the model workspace.

7. Click the diagram view button ( ) and click Main to browse to the top level of the model. Your change is shown in the shared subsystem in the model

workspace and the RobotMotor subsystem denition in the Denitions palette. Note that your changeis notshown inthe copyof subsystem thatis nolonger linked

to the RobotMotor subsystem denition.

32 • 2 Building a Model

Tip: When you converta shared subsystem to astand-alone subsystem,it is a good practice to assign the stand-alone subsystem a meaningful name that clearly distinguishes it from existing shared subsystems and subsystem denitions.

Working with Stand-alone Subsystems

Stand-alone subsystems are subsystems that are not linked to a subsystem denition. You can create a stand-alone subsystem in two ways: by creating a new subsystem as shown in Example: Creating a Subsystem (page 23) or by converting a shared subsystem to a standalone subsystem as shown in Example: Removing the Link Between a Shared Subsystem and its Subsystem Denition (page 31). Stand-alone subsystems can be edited independently without affecting other subsystems in the model workspace.

To identify a subsystem as a stand-alone subsystem, select a subsystem in the model workspace and examine the Inspector tab. If that subsystem is a stand-alone subsystem, the Type eld reads Standalone Subsystem.

Also, ifyou double-clicka stand-alonesubsystem tobrowse toits detailedview,no heading is displayed for the subsystem in the model workspace.

When youcopy andpaste astand-alone subsystem in the model workspace, you can optionally convert that subsystem into a shared subsystem and createa new subsystem denition. For more information, see Example: Copying and Pasting a Stand-alone Subsys- tem (page 33).

Example: Resolving Warning Messages in the Debugging Console

When you convert a shared subsystem into a stand-alone subsystem, a warning message appears to inform you that the link to the subsystem denition has been removed.

Note: This example is an extension of Example: Removing the Link Between a Shared Subsystem and its Subsystem Denition (page 31).

1. Click the debugging button ( ) at the bottom of the MapleSim window todisplay the

debugging console. The following warning message appears in the console.

2.5 Creating and Managing Subsystems • 33

2. To work with the copy of subsystem as a stand-alone subsystem, rightclick (Control-click for Macintosh) the warning message and select Ignore duplication

warnings for “copy for RobotMotor1”.

Alternatively, if you want to link the copy of stand-alone subsystem to the RobotMotor subsystem denition again,you canright-click (Control-clickfor Macintosh)

the warning message and select Update “copy of RobotMotor1” to use the shared sub- system “RobotMotor”.

Example: Copying and Pasting a Stand-alone Subsystem

Note: This example is an extension of Example: Removing the Link Between a Shared Subsystem and its Subsystem Denition (page 31).

1. Inthe model workspace,copy and paste the copyof RobotMotor stand-alone subsystem. The following dialog box is displayed:

2. SelectConvert RobotMotor 1 to shared subsystem (Recommended). Anew subsystem denition called RobotMotor 1 is added to the Denitions palette.

In the model workspace, the copy of stand-alone subsystem has been

converted to a shared subsystem called copy of and another copy of that

shared subsystemcalled has beenadded to themodel workspace.

34 • 2 Building a Model

Both the copy of and shared subsystems are linked to the new RobotMotor 1 subsystem denition. Therefore, if you edit either

or in the model workspace, your

changes will not be reected in subsystems that are linked to the original RobotMotor subsystem denition.

Note: Alternatively, you can select Replicate RobotMotor 1 as a new stand-alone subsystem to add another stand-alone subsystem that can be edited independently without af-

fecting other subsystems in the model workspace.

2.6 Global and Subsystem Parameters

Global Parameters

If yourmodel contains multiplecomponents thatshare a commonparameter value, you can create a global parameter. A global parameter allows you to dene a common parameter value in one location and then assign that common value to multiple components in your model.

The example described below illustrates how to dene and assign a global parameter. To view a more detailed example, see Tutorial 1: Modeling a DC Motor with a Gear- box (page 105) in Chapter 6 of this guide.

Example: Defining and Assigning a Global Parameter

If yourmodel containsmultiple Resistorcomponents thathave acommon resistancevalue, you can dene a global parameter for the resistance value in the parameter editor view.

1. In the Libraries tab, expand the Electrical palette, expand the Analog menu, expand

the Passive menu, and then expand the Resistors menu.

2. Fromthe palette, drag three copiesof the Resistor component into the model workspace.

2.6 Global and Subsystem Parameters • 35

3. In the navigation toolbar, click the parameter editor button ( ). You will use this screen to dene the global parameter and assign it to the Resistor components in your model.

4. Click the rst eld in the Main subsystem default settings table.

5. Enter GlobalResistance as the global parameter name and press Enter.

6. Specify a default value of 2 and enter Global resistance variable as the description.

The global parameter for the resistance value is now dened. You can now assign the common GlobalResistance parameter value to the individual Resistor components that you added to the model workspace.

36 • 2 Building a Model

7. In the component table and component table, enter GlobalResistance as the

resistance value.

The resistancevalue of the parameter GlobalResistance (2, as dened in theMain subsys- tem default settings table) has now been assigned to the resistance parameters of the

and components.

The and components will now inherit any changes made to the GlobalResistance parameter value in the Main subsystem default settings table. For example, if you change

the default value of the GlobalResistance parameter to 5 in the Main subsystem default settings table, the resistanceparameters ofthe and componentswill alsobe changed

to 5. Any change to the GlobalResistance parameter value will not apply to the component because it has not been assigned GlobalResistance as a parameter value.

Subsystem Parameters

You can create asubsystem parameter ifyou want to create a common parameter value that will be shared by multiple components in a subsystem. Similar to global parameters, a subsystem parameter is a common value that you dene in the parameter editor view and assign to components.

Subsystem parameters, however, can only be assigned to components in the subsystem in which they are dened. If you double-click a subsystem in the model workspace, click the

parameter editor button ( ), and dene a parameter in the parameter editor view, the

2.6 Global and Subsystem Parameters • 37

parameter that you dene can only be assigned to components in the subsystem that you double-clicked and any nested subsystems.

To view an example, see Tutorial 3: Modeling a Nonlinear Damper (page 114) in Chapter 6 of this guide.

Note: If you create a parameter within a subsystem and assign its value to a component at the top level, the component at the top level will not inherit the parameter value.

Example: Assigning a Subsystem Parameter to a Shared Subsystem

If you assign a subsystem parameter to a shared subsystem in your model, the default subsystem parameter will also be assigned to other shared subsystems that are linked to it. However, after the default subsystem parameter is assigned, you can edit the subsystem parameter value for each shared subsystem separately without affecting other parameter values in the model.

1. Inthe Examplespalette, expandthe Multibodysubmenu, andopen theDouble Pendulum model. This model contains two shared subsystems, and , which are linked to a

subsystem denition called L.

2. Double-click the shared subsystem.

3. Click the parameter editor button ( ).

4. In the L subsystem default settings table, click the empty eld at the bottom of the table.

5. Type c as the parameter name, keep the default value as 1, and press Enter.

6. Click thediagram view button ( ). The new subsystem parameter, c, is displayed in the Inspector tab for the shared subsystem.

7. In the top view of the model, select the subsystem and examine the Inspector tab. The new subsystem parameter is also displayed for the shared subsystem.

8. In the Inspector tab, change the value of c to 50.

9. Click the shared subsystem in the model workspace and examine the Inspector tab. Note that the value of its parameter, c, remains the same.

38 • 2 Building a Model

Creating Parameter Blocks

As analternative todening subsystemparameters usingthe methodsdescribed above,you can create a parameter block to dene a set of subsystem parameters and assign them to components in your model. Parameter blocks allow you to reuse sets of parameter values in multiple models.

The followingimage shows a parameter blockthat hasbeen added tothe modelworkspace.

When youdouble-click this block, the parametereditor view is displayed. Thisview allows you to dene parameter values for the block.

After dening parameter values, you can assign those values to the component parameters in your model.

To useparameter valuesin another model, you can add aparameter blockto acustom library. For more information about custom libraries, see Creating and Managing Custom Librar- ies (page 43).

Notes:

• Parameter blocks must be placed in thesame subsystem as the components to whichyou want to assign the parameter value.

• Parameter blocks atthe samehierarchical levelin amodel cannothave thesame parameter names. For example, two separate parameter blocks in the same subsystem cannot each contain a parameter called mass.

Example: Creating and Using a Parameter Block

In thisexample, youwill createa setof parameters that can be shared bymultiple components in your model. By creating a parameter block, you only need to edit parameter values in one location to compare results when you run multiple simulations.

2.6 Global and Subsystem Parameters • 39

1. In the Libraries tab on the left side of the MapleSim window, expand the Examples palette, expand the Mechanical menu, and then open the PreLoad example.

2. From the model workspace toolbar, click the parameter block button ( ).

3. Click a blank area in the model workspace. The Create Parameter Block dialog box is displayed.

4. Specify a parameter block name SlidingMassParams and click OK.

5. Double-click the SlidingMassParams parameter block in the model workspace. The parameter editor view is displayed.

6. Click the rst eld in the table and dene a new parameter called MASS.

7. Press Enter.

8. Specify a default value of 5 and enter the description Mass of the sliding mass.

9. In thesame way, dene the following parameters andvalues in the SlidingMassParams

subsystem default settings table.

Name

Value

DescriptionDefault

Length of the sliding mass.2LENGTH Initial velocity of the sliding mass.1

Initial position of the sliding mass.1

Tip: To enter a subscript, press Ctrl + Shift + the underscorekey (Windows® andLinux®) or Command + Shift + the underscore key (Macintosh®) and type the valueto include in

40 • 2 Building a Model

the subscript. To move the cursor outof the subscript position, press the right arrow key on your keyboard.

The parameter editor view appears as follows when the values are dened.

10. Clickthe diagram view button ( ) andthen clickMain in the navigationtoolbar.When

you select the parameter blockin the modelworkspace, the parametersthat you denedare displayed in the Inspector tab on the right side of the MapleSim window.

11. In the model workspace, select one of the Sliding Mass components in the diagram.

12. In the Inspector tab, assign the following values.

2.6 Global and Subsystem Parameters • 41

The parameters of this Sliding Mass component now inherit the numeric values that you dened in the parameter block.

13. In the same way, assign the same values to the parameters of the other Sliding Mass components in the model.

14. In the model workspace, delete Probe1.

15. Select Probe2.

16. In the Inspector tab, clear the check box beside Speed.

17. To simulate themodel, clickthe simulationbutton ( ) in themain toolbar. Thefollowing graph is displayed.

18. In the model workspace, click the parameter block.

19. In the Inspector tab, change the mass to 25, the length to 10, and the initial velocity to

5. These changes apply to all of the Sliding Mass components to which you assigned the symbolic parameter values.

42 • 2 Building a Model

20. Simulate the model again. Another simulation graph, which you can compare to your

rst rst graph, is displayed. In this example, the curve shifts vertically after you run a simulation with the new parameter values.

2.7 Attaching Files to a Model

You can use the Attachments palette in the Project tab to attach les of any format to a model (for example, spreadsheets or design documents created in external applications). You can save les attached in the Attachments palette as part of the current model and refer to them when you work with that model in a future MapleSim session. To save a le, right-click (Control-click forMacintosh) thecategory in whichyou wantto savethe attachment in the palette and select Attach File.

The following is an image of an Attachments palette that contains les called Damper- Curve.csv and Data Generation.mw.

You can alsouse the Attachments palette to open MapleSim templates to perform analysis tasks in Maple, create custom modeling components, and generate data sets for a model.

2.8 Creating and Managing Custom Libraries • 43

For more information about performing analysis tasks, see Analyzing and Manipulating a Model (page 97) in this guide.

2.8 Creating and Managing Custom Libraries

You can create a custom library to save a collection of subsystems, custom modeling components, orattachments thatyou planto reusein multipleles or MapleSim sessions. Custom libraries are displayed in custom palettes below the Examples palette, in theLibraries tab, on the left side of the MapleSim window and saved as .msimlib les on your computer.

A sample custom palette with a subsystem is shown below.

Example: Adding Subsystems and Attachments to a Custom Library

In this example, you will add a subsystem and an .mw attachment to a custom library to make them available in a future MapleSim session.

1. In the Libraries tab, expand the Examples palette, expand the Multidomain menu, and then open the Sliding Table example.

2. From the File menu, select Create Library...

44 • 2 Building a Model

3. Select a path and specify the le name Sliding Table.msimlib.

Note: This le will store the custom library and the le name that you specify will appear as the custom palette name in the MapleSim interface.

4. Click Save. The Add to User Library dialog box displays all of the subsystems in your

model and les attached in the Attachments palette.

5. Select the check box beside Motor to add the subsystem to the custom library.

6. Select the check box besideAdvancedAnalysis.mw to add theattachment to the custom

library.

7. Click OK. A new custom library palette is added in the Libraries tab on the left side of

the MapleSim window.

2.9 Annotating a Model • 45

This palette and its contents are displayed in the Libraries tab. They can be used in a model the next time you start MapleSim.

8. In the Sliding Table palette, click Attachments. The Library Attachments dialog box is displayed. This dialog box lists all of the attachments that you have added to the custom library.

You can also use this dialog box to add attachments to the Attachments palette of another model and open attachments in their associated applications.

9. Close the dialog box.

2.9 Annotating a Model

You can use the tools in the model workspace toolbar to draw lines, arrows, and shapes. MapleSim also provides many tools for customizing the colors, line styles, and shape lls.

You can use the text tool ( ) in the model workspace toolbar to add text annotations to your model. In text annotations, you can enter mathematical text in 2-D math notation and

46 • 2 Building a Model

modify the style, color, and font of the text. For more information about 2-D math notation, see Entering Text in 2-D Math Notation (page 47).

Example: Adding a Text Annotation to a Model

1. In the Libraries tab, expand the Examples palette, expand the Tutorial menu and then

open the Simple DC Motor example.

2. From the model workspace toolbar, click the text tool button ( ).

3. In the model workspace, draw a text box for an annotation below the Step component.

When you releaseyour left mouse button, the toolbar above the model workspace switches to the text formatting toolbar.

4. Enter the following text: This block generates a step signal with a height of 1.

5. Select the text that you entered and change the font to Arial.

6. Click anywhere outside of the text box.

7. Draw another text box below the Inertia component.

8. Enter the following text: Inertia with a value of 0 rad.

Tip: To enter the omega character ( ), press F5 to switch to the 2-D math mode, type omega, and then press Ctrl + Space (Windows), Ctrl + Shift + Space (Linux), or Esc

(Macintosh). To enter the subscript, press Ctrl + Shift + the underscore key (Windows and Linux) or Command + Shift + the underscore key (Macintosh) followed by 0. Press the right arrow key to move the cursor from the subscript position.

9. Click anywhere outside of the text box.

2.10 Entering Text in 2-D Math Notation • 47

10. Select the text that you entered and change the font to Arial.

11. Click anywhere outside of the text box to complete the annotation.

2.10 Entering Text in 2-D Math Notation

In parameter values and annotations, you can enter text in 2-D math notation, which is a formatting option for adding mathematical elements such as subscripts, superscripts, and Greek characters. As you enter a phrase in 2-D math notation, you can use the command and symbol completion feature to display a list of possible Maple commandsor mathematical symbols that you can insert.

The following table lists common key combinations for 2-D math notation:

ExampleKey CombinationTask

Switch between text and 2-D math mode (annotations only)

Command and symbol completion (parameter values and annotations only)

Enter a subscript for a variable

1. Enter the rst few characters of a symbol name, Greek character, or Maple command.

2. Enter the key combination for your platform:

• Ctrl + Space (Windows)

• Ctrl + Shift + Space (Linux)

• Esc (Macintosh)

3. From the menu, select the symbol or command that you want to insert.

Ctrl (or Command) + Shift + underscore ( _ )

-F5

Enter a square root

caret (^)Enter a superscript

Enter sqrtand pressCtrl (or Command for Macintosh) + Space.

48 • 2 Building a Model

Enter a root

Enter nthroot and press Ctrl(or Command)

+ Space.

forward slash (/)Enter a fraction

ExampleKey CombinationTask

Enter a piecewise, matrix, or vector row

For more information, see the Using MapleSim → Building a Model → Annotating a

Model → Key Combinations for 2-D Math Notation topic in theMapleSim help system.

Ctrl (or Command) + Shift + R

Ctrl (or Command) + Shift + CEnter a table column

2.11 Creating a Data Set for an Interpolation Table

Component

You can create a data set to provide values for an interpolation table component in your model. Forexample, youcan providecustom values for input signals, and electricalCurrent Table and Voltage Table sources. To create a data set, you can either attach a Microsoft® Excel® spreadsheet (.xls) or comma-separated values (.csv) le that contains the custom values, or youcan createa dataset in Mapleusing theData Generation Template or Random Data Template provided in the MapleSim templates dialog box.

Note: The Microsoft Excel 2007 le format (.xlsx) is not supported. For more information about interpolation table components, see the MapleSim Library

Reference →Signal Blocks → Interpolation Tables→ Overview topic in the MapleSim help system.

Example: Creating a Data Set in Maple

In this example, you will use the Data Generation Template to create a data set for a MapleSim 1DLookup Tablecomponent. Inthis template,you canuse anyMaple commands to create a data set; however, for demonstration purposes, you will create a data set using a computation that has already been dened.

1. Open a new MapleSim document.

2. Inthe Librariestab, expandthe Signal Blocks palette, andthen expandthe Interpolation

Tables menu.

3. Add a 1D Lookup Table component to the model workspace.

4. In the main toolbar, click the templates button ( ).

2.12 Best Practices: Building a Model • 49

5. From the templates list, select Data Generation.

6. In the Attachment eld, enter My First Data Set and click Create Attachment. The Data Generation Template is opened in Maple.

7. To execute the entire worksheet, click at the top of the Maple window.

8. At the bottom of the template, in the Data set name eld, enter TestDataSet.

9. To make the data set availablein MapleSim, clickthe Attach Data in MapleSim button.

10. In MapleSim, in the Project tab, expand the Attachmentspalette, and then expand the Data Sets category. The data set le is displayed in the list.

You can nowassign thisdata set to the interpolation table component in themodel workspace.

11. In the model workspace, select the 1D Lookup Table component.

12. Inthe Inspectortab, from the data drop-down menu, selectthe TestDataSet.mpld le. The data set is now assigned to the 1D Lookup Table component.

13. Save the Data Generation Template in Maple and then save your model in MapleSim.

2.12 Best Practices: Building a Model

This section describes best practices to consider when laying out and building a MapleSim model.

Best Practices: Laying Out and Creating Subsystems

To start building your model, drag components from the palettes to the center of the model workspace. Dragthe componentsinto thearrangement thatyou wantin themodel workspace and then, if necessary, change their orientation so that the components are facing in the direction that you want. When you have established the position and orientation of the components, connect them in the model workspace.

When groupingcomponents intosubsystems, makesure thatyou includelogical component groupings that t on one screen at a time. This will allow you to see all of the subsystem components at a certain level without scrolling.

Create Subsystems for Component Groups That You Plan to Reuse

Create subsystems for component groups that you plan to reuse throughout a diagram or in multiple les.For example,if youplan to include multiple planarlink modelsin apendulum system, you can create a link subsystem so that multiple copies of that component group could be added. If you wanted to add the link subsystem to another pendulum model, you can create a custom library to use the subsystem in another le.

50 • 2 Building a Model

Create Subsystems for Component Groups That You Plan to Analyze

Make sure that you create subsystems for component groups that you plan to analyze in more depth, test, or translate into source code. Several MapleSim templates allow you to analyze and retrieve equations from particular subsystems. The Code Generation Template allows you to generate source code from subsystems only.

For more information about performing analysis tasks, see Analyzing and Manipulating a Model (page 97) in this guide.

Use the Debugging Console to Identify Subsystem Copies and Unconnected Lines

You can display the debugging pane by clickingthe debugging button( ) atthe bottom of the MapleSim window.

The debugging pane displays diagnostic messages that can help you troubleshoot potential errors as you build a model. When you click the diagnostic tests button ( ) below the debugging pane,MapleSim verieswhether yourmodel containsunconnected linesor subsystems that have identical content but are not linked to a subsystem denition. When either of these issues are detected, a message that identies the subsystem in which the issue is located is displayed in the debugging console. You can right-click (Control-click for Macintosh) themessage inthe debuggingpane todisplay options that can helpyou toresolve the issue.

Best Practices: Building Electrical Models

Include a Ground Component in Electrical Circuits

In eachelectrical circuit model, you mustadd and connect a Ground component toprovide a reference for the voltage signals.

Verify the Connections of Current and Voltage Sources

Simulation results can be affected by the way in which a current or voltage source is connected in your model. If you receive unexpected simulation results, verify the connections between electrical sources and other components in your model. All of the current sources in the MapleSim component library display an arrow that indicates the direction of the positive current.

2.12 Best Practices: Building a Model • 51

Also, all of the voltage sources display a plus sign indicating the location of the positive voltage and a minus sign indicating the location of the negative voltage.

Consider the following DC motor model. Note that the positive port of the Signal Voltage source atthe leftof thediagram is connected to the positive port of the Resistor component.

When this model is simulated, MapleSim returns the following results for the speed and torque quantities.

52 • 2 Building a Model

On the other hand, if the negative port of the Signal Voltage source is connected to the positive port of the Resistor component, as shown in the following image

MapleSim returns different results for the speed and torque quantities.

Best Practices: Building 1-D Translational Models

Verify That All Force Arrows Are Pointed in the Same Direction

In MapleSim, all of the 1-D translational mechanical components are dened in a 1-D coordinate system with the positive direction dened as the direction of the gray arrow displayed by the component icon.

Any positive forces acting on the model cause the component to move in the direction of the arrow, so make surethat all ofthe arrows displayedby the 1-Dtranslational mechanical

2.12 Best Practices: Building a Model • 53

components in your model point in the same direction. As an example, note that all of the force arrows are pointed to the right in the following multiple mass spring-damper model.

Best Practices: Building Multibody Models

Connect the Inboard Port of a Rigid Body Frame to a Center-of-mass Frame

Make surethat youconnect the inboard port of any RigidBody Frame components in your model to the center-of-mass frame of a Rigid Body component. This ensures that the local reference frame used to describe displacements and rotations for the Rigid Body Frame component match with the center-of-mass reference frame dened on the Rigid Body component.

In thefollowing planarlink example, the Rigid Body Frame inboard ports(that is,the ports with the cross-hatched circles) are both connected to a Rigid Body component.

Best Practices: Building Hydraulic Models

Define Fluid Properties

When building hydraulic models, you must dene the properties of the uid that will be used by placing the Hydraulic Fluid Properties component at the top level of your model or at same level as a hydraulic subsystem. If you place this component at the top level of your model, all hydraulic components and subsystems in your model will inherit the uid properties denedby thatcomponent instance;if you place the Hydraulic Fluid Properties component at the same level as a subsystem, all hydraulic components in that subsystem and all nested subsystems will inherit the properties dened by that component instance.

54 • 2 Building a Model

In the following example, all of the hydraulic components in the model inherit the uid properties dened by the Hydraulic Fluid Properties component at the top-right of the diagram.

3 Creating Custom Modeling Components

In this chapter:

• Overview (page 55)

• Opening Custom Component Examples (page 56)

• Example: Nonlinear Spring-Damper Component (page 56)

• Working with Custom Components in MapleSim (page 61)

• Editing a Custom Component (page 62)

3.1 Overview

To extend the MapleSim component library, you can create custom modeling components based on mathematical models that you dene. For example, you can create a custom component to contain a particular subsystem and to provide specialized functionality.

By using the Custom Component Template, which is a Maple worksheet available through the MapleSim templates dialog box, you perform the following tasks in Maple to create a custom component:

• Dene the component equations and properties that determine the behavior of the component (for example, parameters and port variables)

• Test and analyze your mathematical model

• Add ports to the component and dene the associated port variable mappings

• Generate the component and make it available in MapleSim

The Custom Component Template contains pre-built controls that allow you to perform these tasks. Each generated custom component is associated with a particular template.

56 • 3 Creating Custom Modeling Components

3.2 Opening Custom Component Examples

The following custom component examples are available with yourMapleSim installation:

• Custom component dened with an algebraic equation

• A sample DC motor component dened with a differential equation

• A sample nonlinear spring-damper component

• Custom component dened with a transfer function

To open an example:

1. In MapleSim, click the templates button ( ) in the main toolbar.

2. Click Browse...

3. In the Browse Templates dialog box, open the Component Templates folder.

4. Select the example that you want to open, and click Use Template

5. In the Attachment eld, enter a name for the template.

6. ClickCreate Attachment. The sample Custom Component Template isopened inMaple.

3.3 Example: Nonlinear Spring-Damper Component

In thisexample, youwill use the Custom ComponentTemplateto createa nonlinearspringdamper custom component. The equations dened in this example are based on the Translational Spring Damper component in MapleSim. In this case, the stiffness and damping coefcients are replaced with input functions to the component.

3.3 Example: Nonlinear Spring-Damper Component • 57

To obtain thegoverning relationships, youcan start witha free-body diagram.The diagram for the spring-damper system is shown below.

The end points, a and b, can be dened as the ports for the component; the equations are derived relative to these ports. Therefore, the general equation of motion,

where is the damping coefcient, is thestiffness ofthe spring,and is therelative

displacement between the two ports and , can be written as

Also, an examination of the net force on the system shows that , where

All of the above relationships are required to dene the system behavior.

58 • 3 Creating Custom Modeling Components

Opening the Custom Component Template

To start, open the Custom Component Template from the MapleSim templates dialog box.

1. In MapleSim, open the model to which you want to add the custom component.

2. Click the templates button ( ) in the main toolbar.

3. In the Standard Templates list, select Custom Component.

4. In the Attachment eld, enter Nonlinear Spring-Damper as the name for the template and click Create Attachment. The Custom Component Template is opened in Maple.

Defining the Component Name and Equations

You can now specify the name that will be displayed for the component in the MapleSim interface, a variable to store the equations, and the equations.

To dene the component equations, you create a system model by using commands from the DynamicSystems package. For more information, see the ?DynamicSystems topic in the Maple help system.

1. In theComponent Description section ofthe template,specify a componentname called NonLinearSpringDamper.

2. In the Component Equations section, delete the default equations below the table that denes the variables.

3. To dene the nonlinear system, enter the following equations.

Note that the equations are entered in a Maple list. The constants, (damping) and (stiffness) are replaced by the functions and to dene them as input states to

the system.

4. To assign the equations and the input and output denitions to a system object variable called sys, enter the following text.

3.3 Example: Nonlinear Spring-Damper Component • 59

5. Click at the top of the window to execute the entire worksheet.

You can now assign these input and output variables to ports that you will include in your generated custom component.

Defining Component Ports

In the Component Ports section of the template, you assign input and output variables to ports that will appear in the generated component, and specify the layout of these ports.

1. To remove the sample ports from the diagram, click Clear All Ports.

2. Click the Add Port button four times. Four squares, which represent the ports that you

will lay out and dene, are displayed in the diagram.

3. Select the port on the left side of the diagram.

4. From the Port Type drop-down menu below the diagram, select Translational Flange.

5. In the Port Components table, in the Position row, select s[b](t) from the drop-down

menu and, in the Force row, select F[b](t) from the drop-down menu. The left port is now dened as a translational ange and associated with the position variable s[b](t) and force variable F[b](t).

6. Select the port on the right side of the diagram.

7. From the Port Type drop-down menu, select Translational Flange.

60 • 3 Creating Custom Modeling Components

8. Inthe Position row, selects[a](t) from thedrop-down menu and,in the Force row,select F[a](t) from the drop-down menu. The right port is now dened as a translational ange and associated with the position variable s[a](t) and force variable F[a](t).

9. Select the port at the top of the diagram.

10. From the Port Type drop-down menu, select Signal Input.

11. In the Value row, select c(t) from the drop-down menu. This port is now dened as a signal input and associated with the stiffness variable c(t).

12. Select the port at the bottom of the diagram.

13. From the Port Type drop-down menu, select Signal Input.

14. In the Value row, select d(t) from the drop-down menu. This port is now dened as a signal input and associated with the damping variable d(t).

15. Drag the port that you dened in step 14 and place it at the top right of the diagram. You can also drag the other port to position it.

The ports will be displayed in this arrangement when you generate the custom component in MapleSim.

Generating the Custom Component

To generate the custom component, click the Generate MapleSim Component button at the bottom of the template. When it is generated, the custom component is displayed in the Denitions palette located in the Project tab in MapleSim.

3.4 Working with Custom Components in MapleSim • 61

You can nowadd theNonLinearSpringDamper custom component toa modelby dragging it into the model workspace.

3.4 Working with Custom Components in MapleSim

In MapleSim,you can work with acustom component in the sameways as youwould work with a subsystem. You can perform the following tasks:

Add Text and Illustrations to a Custom Component

To customize the appearance of a custom component, you can change the default images that are displayed in the component icon. Select the custom component in themodel work-

space, click the icon view button ( ) in the navigation toolbar, and use the drawing and annotation tools to add text and illustrations.

Save a Custom Component as Part of the Current Model

To save a custom componentas a part of thecurrent model, addthe component by dragging it into the model workspace and then save the model. The next time you open the le, the custom component will be displayed in the model workspace and Denitions palette.

Add a Custom Component to a Custom Library

If you want to use a custom component in a le other than the current model, add the component to a custom library. For more information, see Creating and Managing Custom Libraries (page 43).

62 • 3 Creating Custom Modeling Components

3.5 Editing a Custom Component

If you want to edit a custom component that you have generated, make your changes in the corresponding Maple worksheet and regenerate the component.

1. In the MapleSim model workspace, double-click the custom component that you want to edit. The corresponding Custom Component Template is opened in Maple.

2. In the Maple worksheet, edit the equations, properties, or port values.

3. At the bottom of the worksheet, click Generate MapleSim Component. Your changes are generated in the custom component displayed in MapleSim.

4. Save your changes in the .mw le and the .msim le to which you added the custom component.

4 Simulating and Visualizing a Model

In this chapter:

• How MapleSim Simulates a Model (page 63)

• Simulating a Model (page 66)

• Simulation Progress Messages (page 71)

• Managing Simulation Results (page 71)

• Customizing Plot Windows (page 72)

• Visualizing a Multibody Model (page 78)

• Best Practices: Simulating and Visualizing a Model (page 96)

4.1 How MapleSim Simulates a Model

Modelica Description

The equations for many components in the MapleSim library are described usingthe Modelica physicalmodeling language.On theother hand,the equationsfor multibodycomponents are generated by a special-purpose engine, which uses advanced mathematical techniques to ensure that the equations are as concise and efcient as possible. These equations are converted to Modelica.

For more information about Modelica, visit http://www.modelica.org.

Model Description

Each component in your model contains a system of equations that describes its behavior; these systemsof equationscan consist of purely algebraicequations ordifferential equations. Also, a component may dene any number of events, which can change the component behavior during a simulation by enabling or disabling part of the equations in the system or changingstate values.Connections betweentwo or more components generate additional equations that describe how these components interact.

System Equations

All of these equations are then collected in one large system and parameter values are also substituted in.Now,the MapleSimsimulation enginehas apotentially largesystem ofhybrid differential algebraic equations. This means that the system has differential equations with algebraic constraints, as well as discrete events.

64 • 4 Simulating and Visualizing a Model

Simplified Equations

A process called index reduction is applied to reduce the algebraic constraints as much as possible. Othersymbolic simplication techniquesalso reducethe numberof equationsand variables. Notethat algebraicconstraints maystill bepresent inthe equationsafter thisstep. No information is lost during the simplication process and the full accuracy is preserved. At thispoint, initialvalues forall ofthe variablesremaining inthe systemof equationsmust be computed. This is a non-trivial step because typically only a small number of the initial conditions is xed in the system model. The remainder of the initial conditions must be computed in such a way that the entire equation set is consistent.

You can setinitial values for some ofthe variablesby specifying parameter values for certain components inthe Inspector tab on theright side of the MapleSimwindow.If the specied initial conditions are not consistent, an error will be detected during the simulation.

Initialization

When all of these preprocessing steps are complete, the numeric solving process can begin. A sophisticated differential algebraic equation (DAE) solver based on the Rosenbrock integrator (forstiff systems),the ck45 integrator(for semi-stiffsystems), and rkf45 integrator (for non-stiff systems) is used to numerically integrate the system of equations. Algebraic constraints areconstantly monitored to avoid constraintdrift, which would otherwise affect the solution accuracy. The rosenbrock (stiff) solver is a good choice for typical systems. In some cases, the non-stiff solvers will offer better performance; they are a good option for models where all quantities vary at approximately the same rate.

Numeric Integration and Event Handling

During numeric solving (or "integration"), inequality conditions that are part of the model are monitored and an event is triggered when one or more of these conditions change. Whenever such an event is encountered, the numeric solver is stopped and the simulation engine computes a new conguration of the system of equations based on the event conditions. Thisstep alsoinvolves recomputinginitial conditionsfor thenew system conguration. The solver is then restarted and continues to numerically solve the system until another event is triggered or the simulation end time is reached.

Simulation Results

In the last step of the simulation process, the results are generated and displayed using graphs showingthe quantitiesof interest and, optionally for multibody mechanicalsystems, a 3-D animation.

4.1 How MapleSim Simulates a Model • 65

The simulation process is summarized in the following chart:

Note thatthe informationin this section is asimplied descriptionof the simulation process. For more information on the DAE solvers used by the simulation engine, see the ?dsolve,numeric topic in the Maple help system.

66 • 4 Simulating and Visualizing a Model

4.2 Simulating a Model

To view the behavior or response of physical properties (for example, current or voltage), add probes to connection lines, ports, or components in your model. In MapleSim, probes allow you to identify the variables of interest that are associated with connection ports.

If you add a probe to measure a through variable, an arrow is displayed to indicate the direction of the positive ow in the model workspace.

You can specify the duration for which to run a simulation, the type of solver to use, and other parametervalues for thesolver, simulation engine, and3-D workspace. Afterrunning a simulation, a graph is displayed for each specied quantity.

You can changethe originalprobe or parameter values and run anothersimulation tocompare the results.

Simulation Parameters

At the top level of your model, in the Inspector tab, you can specify the duration of the simulation and optional parameter values for the solver, simulation engine, and 3-D workspace.

DescriptionDefaultParameter

End time of the simulation. You can specify any positive

value, including oating-point values. Note: For all simulations, the initial start time is 0.

4.2 Simulating a Model • 67

DescriptionDefaultParameter

DAE solver used during the simulation.

• ck45 (semi-stiff): use a semi-stiff DAE solver (ck45

method).

• rkf45 (non-stiff): use a non-stiff DAE solver (rkf45

ck45 (semi-stiff)solver

trueadaptive

0.0010step size

method).

• rosenbrock (stiff): use a stiff DAE solver (Rosenbrock

method).

If your modelis complex, youmay want to use a stiffDAE solver to reduce the time required to simulate a model.

Species whether an adaptive solver or a xed-step solver is used to determine sampling periods for the simulation.

• true: use an adaptive solver. The sampling periods, as

determined bythe solver, varythroughout thesimulation.

• false: use a xed-step solver. The sampling periods are

a uniform step size throughout the simulation. You can specify the size in the step size eld.

If the state of your model changes rapidly, you may want to use a xed-step solver to reduce the time required to run the simulation. Note: When a xed-step solver is used, fewer samplingperiods maybe representedinthe simulation results. Forthe mostaccurate results,use anadaptive solver to run the simulation.

Uniform size of the sampling periods if you are using a xed-step solver to run the simulation. You can specify a oating-point valuefor this option when the adaptive eld is set to false.

The limit on the absolute error tolerance for a successful integration step if you are using an adaptive solver to run the simulation. You can specify a oating-point value for this option when the adaptive eld is set to true.

The limit on the relative error tolerance for a successful integration step if you are using an adaptive solver to run the simulation. You can specify a oating-point value for this option when the adaptive eld is set to true.

68 • 4 Simulating and Visualizing a Model

DescriptionDefaultParameter

Minimum number of points to be plotted in a simulation graph. The data points are distributed evenly in the graph according tothe simulationdurationvalue. You can specify

200plot points

falsecompiler

a positive integer. Note: This option allows you to specify the number of points for display purposes only. The actual number of points used during the simulation may differ from thenumber ofpoints displayedin thesimulationgraph.

Species whether a native C compiler is used during the simulation. When this option is set to true, Maple procedures generated by the simulation engine are translated to C code, which is compiled by an external C compiler. If your model is complex, you may want to set this option to true to reduce the time required to run a simulation.

You can specify the following parameter values for models containing multibody mechanical components:

DescriptionDefaultParameter

Direction of gravity. The acceleration due to gravity of Earth at the surface. The

9.81 default units are in .

Species whetherobjects aredisplayedin the3-D workspace

true3-D animation

after running a simulation. When this option is set to false, no objects are displayed in the 3-D workspace.

3-D playback

time

4.2 Simulating a Model • 69

DescriptionDefaultParameter

Specied the playback duration of the 3-D animation, at a 1x speed rate, in seconds. This value differs from the

value, whichin comparisonspecies thesimulationduration represented in your simulation graphs. You can specify a oating-point valuefor thisoption whenthe 3-Danimation eld is set to true.

You can specify a value in this eld to increase or decrease the speed at which an animation is played. For example, if

the value is set to 0.5 seconds, you can set the 3-D

303-D samplingrate

playback time value to 10 secondsto slow down the animation; ananimation of the0.5 secondsimulation wouldthen be played back over a span of 10 seconds in real time.

If no value is speciedin this eld, the 3-D playback time value is the same as the value entered in the eld: an

animation of a 10 second simulation, for example, would be played back over a span of 10 seconds in real time. The number offrames representedin ananimation isdetermined by the value specied in the plot points eld, and the 3-D playback time value multiplied by the 3-D sampling rate value.

Number offrames persecond toincludein the3-D animation playback. You can increase this value to create a smoother transition between frames in your animation. You can specify a positive integer for this option when the 3-D anima- tion eld is set to true. The number of frames represented in an animation is determined by the value specied in the plot points eld, and the 3-D playback time value multiplied by the 3-D sampling rate value.

70 • 4 Simulating and Visualizing a Model

Editing Probe Values

In theProject tab, the Probespalette listsall of the probes thatyou haveadded to the current MapleSim model.

If aprobe isattached atthe toplevel ofyour model,Main is displayed in parentheses beside the probename; otherwise,the subsystem in which the probe hasbeen attachedis displayed beside the probe name. In the image shown above, three probes have been attached to a model: Probe1 and Probe2 at the top level of the model and Probe3 in a subsystem called Gear Components1.

You can click the entries in this palette to browse to a probe in the model workspace, and view andedit the probe values inthe Inspector tab. You can also right-click (Control-click for Macintosh) entries in this palette and manipulate probes using context menus.

For more information, see Using MapleSim → Simulating a Model →Editing Probe Values in the MapleSim help system.

Storing Parameter Sets to Compare Simulation Results

You can store a group of parameter values that are assigned to a model in a parameter set. You can then run a simulation using one parameter set, replace those parameter values with another parameter set, and run another simulation to compare the results.

For more information, see the Using MapleSim → Building a Model → Saving and Managing Parameter Sets section in the MapleSim help system.

4.3 Simulation Progress Messages • 71

4.3 Simulation Progress Messages

During a simulation, you can view progress messages in the Console pane located below the model workspace. These messages indicate the status of the MapleSim engine as it generates a mathematical model; these messages can help you to debug simulation errors.

Optionally, before running a simulation, you can specify the amount of detail displayed in progress messages by selecting a level from the drop-down menu at the bottom of the MapleSim window.

4.4 Managing Simulation Results

The Stored Results palette in the Project tab allows you to view, save, and export results generated frommultiple simulations.Whenever yousimulate amodel, aRename this result to save it entry is added to the Stored Results palette. You can click this entry to view the graphs, progressmessages, and(if applicable)3-D animationgenerated from the most recent simulation. Whenever you simulate a model, the Rename this result to save it entry is overwritten with results generated from the most recent simulation.

You can save simulation results to compare and refer to multiple graphs generated during the current MapleSim session.

72 • 4 Simulating and Visualizing a Model

If you want to refer to a set ofsimulation results ina future MapleSimsession, you canalso save theresults as partof a model. When you open the modelin a futureMapleSim session, the graphs, progress messages, and 3-D animation that you saved will be available in the Stored Results palette.

If you want to work with your simulation data in another application, you can also export your results to a Microsoft® Excel® (.xls) or comma-separated value (.csv) le.

Note: The Microsoft Excel 2007 le format (.xlsx) is not supported. For more information, see the Using MapleSim → Simulating a Model →Managing

Simulation Results section in the MapleSim help system.

4.5 Customizing Plot Windows

In a default plot window, quantities are plotted in separate simulation graphs that are displayed alphabetically according to probe and quantity names. In each graph, the quantity values are plotted along the y axis versus the simulation time values along the x axis.

You can optionally create a custom plot window layout to plota quantity along an axisthat you choose,specify thegraph inwhich aquantity willappear in the plot window, customize plot titles, add a second vertical axis to a graph, and specify the number of columns that will appear in the plot window. You may want to create a custom plot window layout if, for example, you want to compare multiple quantities in the same graph, plot one quantity versus another, or view a simulation graph for a specic quantity without editing other probe values.

4.5 Customizing Plot Windows • 73

To create a custom plot window layout, you specify attributes in the Plots tab on the right side of the MapleSim window.

When youselect the customplot windowlayout fromthe drop-downmenu, select theShow Window check box, andthen simulateyour model,a customplot windowwith thespecied attributes isdisplayed in addition to thedefault plotwindow.You can store multiple layouts and select the one you want to use when you run a simulation.

Example: Plotting Multiple Quantities in Individual Graphs

In this example, you will create a custom plot window layout to plot and compare multiple quantities in the generated simulation graphs.

1. In the Libraries tab, expand the Examples palette, expand the Multidomain menu, and then open the Controlled 2 Link Robot example.

74 • 4 Simulating and Visualizing a Model

2. Click the Plots tab located on the right side of the MapleSim window. The following table, which displays all of the selected probe quantities, is displayed in the pane.

This tabledisplays thedefault layout of the graphsin theplot window that will begenerated. For example,the tableshown inthe imageabove indicatesthat thegraph for the Joint1:Angle quantity will be displayed in the top-left corner of the plot window, the graph for the Joint1:Torque quantity will be displayed in the top-right corner of the plot window, and so on after you run a simulation.

You will now create a custom plot window that displays both of the angle quantities in one graph and both of the torque quantities in another graph.

3. From the drop-down list at the top of the pane, select Add Window.

4. In the Create Plot Window dialog box, specify a plot window layout name Angle and Torque Comparison.

5. In the Columns eld, type 2 and press Enter. The table in the pane now contains two cells; each cell represents a plot window area for which you can specify layout attributes.

4.5 Customizing Plot Windows • 75

6. Click Empty in the left cell.

7. In the Title eld, enter Angle.

8. From the Primary Y-axis drop-down menu, select Joint1: Angle.

9. Click [Add Variable] below the drop-down menu.

10. From the second Primary Y-axis drop-down menu, select Joint2: Angle.

11. In the table at the top of the pane, click Empty in the top-right cell.

12. In the Title eld, enter Torque.

13. From the Primary Y-axis drop-down menu, select Joint1: Torque.

14. Click [Add Variable] below the drop-down menu.

15. From the second Primary Y-axis drop-down menu, select Joint2: Torque. You can now simulate the model using the new plot window layout.

16. Make sure that the Show Window check box in the Plots tab is selected.

17. Clickthe simulation button( ) inthe main toolbar. Thefollowing custom plotwindow, which comparesthe angle values in onegraph and the torque valuesin another, isdisplayed in addition to the default plot window.

If you want to display the default plot window only, clear the Show Window check box in the Plots tab and simulate your model again.

76 • 4 Simulating and Visualizing a Model

Example: Plotting One Quantity Versus Another

In this example, you will create a custom plot window layout to plot the X and Y position of each of the links of a double pendulum.

1. In the Libraries tab, expand the Examples palette, expand the Multibody menu, and then open the Double Pendulum example.

2. In the model workspace toolbar, click the probe button ( ).

3. Click the right port of the shared subsystem

4. Click the probe once to position it in the model workspace.

5. In the Inspector tab, select Length[1] and Length[2].

6. Add another probe that measures the Length[1] and Length[2] quantities to the right port of the shared subsystem.

7. Click the Plots tab on the right side of the MapleSim window.

8. From the drop-down list at the top of the pane, select Add Window.

9. Inthe Create PlotWindow dialog box, assign the plot windowlayout thename X versus Y.

10. Click Empty in the table at the top of the pane.

11. In the Title eld, enter Bottom Link and press Enter.

12. From the X-axis drop-down menu, select Probe4: r_0[1]

13. From the Primary Y-axis drop-down menu, select Probe4:r_0[2].

14. In the table at the top of the pane, click Empty below the Bottom Link cell.

15. In the Title eld, enter Top Link and press Enter.

16. From the X-axis drop-down menu, select Probe3: r_0[1].

17. From the Primary Y-axis drop-down menu, select Probe3:r_0[2].

18. Make sure that the Show Window check box is selected.

4.5 Customizing Plot Windows • 77

19. Clickthe simulationbutton ( ) in the main toolbar. The followingcustom plotwindow is displayed, in addition to the default plot window.

The plots above show themotion of theend point ofeach link in the pendulum. The bottom link follows a more chaotic path because of the interaction with the top link.

78 • 4 Simulating and Visualizing a Model

4.6 Plot Window Toolbar and Menus

After simulating a model, you can use the tools in the plot window to customize curves, axes, andgridlines; browsesimulation graphs;and export simulation graphs to several image formats. The following menus and toolbar are displayed at the top of each generated plot window.

You can hover your mouse pointerover anyof thetoolbar buttons toview theirdescriptions. For more information about these tools, see the Using MapleSim → Simulating a Model

→ Working with Simulation Graphs section of the MapleSim help system.

4.7 Visualizing a Multibody Model

In MapleSim, the 3-D visualization environment allows you to build and analyze 3-D graphical representations of multibodysystems. As you build a model and change its parameters, you can validate the 3-D conguration of the model and visually analyze your simulation results. You can build 3-D models by dragging and connecting objects in the 3D workspace,and youcan visualizeyour simulationresults by playing animations that depict the movement of the objects.

As you build a block diagram in the model workspace, the corresponding changes are automatically reected in the 3-Drepresentation displayedin the3-D workspace. Similarly, when youbuild a model in the 3-D workspace,the correspondingchanges areautomatically reected in the block diagram displayed in the model workspace. Changes that you make in either of the workspaces are shown in both the model workspace and 3-D workspace as you edit your model.

In the 3-D workspace, you can view your model from any direction and control playback options tofocus on specic components and their motions.Also, youcan attach 3-D shapes to parts ofyour model to create a realistic-looking systemrepresentation. These shapes can either be imported from an external CAD le or selected from the Multibody →Visualiz- ation palette in theLibraries tab. You canalso attachtrace lines to show wherecomponents will move during an animation.

4.7 Visualizing a Multibody Model • 79

For moreinformation about adding 3-D shapesand usingthe 3-D workspace, see theUsing MapleSim → Visualizing a Model section of the MapleSim help system.

The 3-D Workspace

The 3-Dworkspace isthe areain whichyou buildand animate3-D modelsin theMapleSim window.

1. 3-D workspace

DescriptionComponent

The area in which you build, view, and animate a 3-D model. The arrowsat the originindicate the directions of the world axes. They are displayed in the following colors:

• X - red

• Y - green

• Z - blue You can use the grid as a reference to determine the

relative sizes and positions of elements in your 3-D model.

80 • 4 Simulating and Visualizing a Model

DescriptionComponent

Contains tools for hiding and displaying components

2. Main 3-D toolbar

3. Construct mode controls

in the 3-D workspace, toggling between different modes, selectingcamera navigationtools,and changing the 3-D model view.

Controls forbuilding andassembling a3-D model,and connecting 3-D objects. Note: When you switch to playback mode,the constructmode controlsare hidden and the playback controls for animating a 3-D model and specifying camera tracking options are displayed in this toolbar.

You can hover your mouse pointer over any of the buttons to view their descriptions.

Displaying the 3-D Workspace

To display the 3-D workspace, use the buttons located at the bottom of the MapleSim window. By default, the 3-D workspace is not displayed.

Click the3-D viewbutton ( ) if you wantto workwith yourmodel inthe 3-Dworkspace only, the block diagram view button ( ) if you want to work in the model workspace only,or the combined view button( ) if youwant to work in boththe model workspace

and 3-D workspace at the same time.

Viewing and Browsing 3-D Models

In the 3-D workspace, you can view and browse a 3-D model from the perspective view or one of the orthographic views. The perspective view allows you to examine and browse a model from all angles in 3-D space. It allows you to see 3-D spatial relationships between elements inyour model.In theperspective view, objects that are closer to the cameraappear larger than those that are further away from the camera.

In the following image, a double pendulum model is shown from the perspective view.

4.7 Visualizing a Multibody Model • 81

You can alsoview your3-D modelfrom front, top, and sideorthographic views.Orthographic views useparallel projectionas opposedto perspectiveprojection, soyour 3-D model appears as a attened object because no depth information is shown. Orthographic views are sometimes referred to as "true length" views because they display undistorted lines and distances in the view plane that is perpendicular to the objects; these views are useful for analyzing spatial relationships or clearances between objects.

In the following image, the double pendulum model is shown from the top orthographic view.

You can browse a model andchange themodel view while an animationis staticor playing. In all of the views, you can pan and zoom into or out from your model. In the perspective view, you can also move the camera to view your model from above or below, and from any direction around your model.

Tip: Before panning,zooming, ormoving thecamera arounda large 3-Dmodel, hoveryour mouse pointer over the object that you want to focus on. MapleSim adjusts the navigation controls according to the object on which you place the mouse pointer.

Adding Shapes to a 3-D Model

By default, basic spheres and cylinders called implicit geometry are displayed in the 3-D workspace to represent physical components in your model. For example, consider thefollowing double pendulum model, which contains two revolute joints and two subsystems that represent planar links.

82 • 4 Simulating and Visualizing a Model

In the 3-D workspace, the implicit geometry of the fully assembled pendulum model is displayed as follows.

In this example, the spheres represent the revolute joints and rigid bodies, and the cylinders represent the planar links.

Implicit geometry that is not connected to other implicit geometry is drawn in a light gray color; implicit geometry that is assembled is drawn in a dark gray color, with the exception of joint objects, which are drawn in red.

Note: Components that you exclude from a simulation in the model workspace are not displayed in the 3-D workspace.

If you want to create a more realistic representation of your model, you can add shapes and lines called attached shapes to your model. To do so, you rst add and connect attached shape components from the Multibody →Visualization palette to your block diagram in the model workspace.

When you simulate your model, the attached shapes are displayed in the 3-D workspace, in addition to the implicit geometry. In the following image, attached shapes have been added to represent the pendulum stem and bob pictorially. Also, a trace line - the curved line in the image - is used to depict the locus of points that will be traced by a particular part of the model during a simulation.

You can customize the color, size, scale, and other visual aspects of the attached shapes by setting parameter values for individual components in the Inspector tab before simulating the model.

4.7 Visualizing a Multibody Model • 83

If you want to view only the implicit geometry in the 3-D workspace, you can hide the attached shapes by clicking the attached shapes button ( ) in the main 3-D toolbar. If you

want to view the attached shapes only, you can hide the implicit geometry by clicking the implicit geometry button ( ).

For more information about attached shape components, see the MapleSim Library Ref-

erence → Multibody → Visualization → Overview topic in the MapleSim help system. Note: If your model contains Flexible Beam components, deection of the beam will not

be depicted in the implicit geometry of your 3-D model.

Example: Adding Attached Shapes to a Double Pendulum Model

In the following example, you willadd cylinder shapesto represent thependulum stem and a sphere component to represent the pendulum bob. You will also add a Path Trace com- ponent to display the path on which the revolute joint will move during an animation.

1. In the Libraries tab, expand the Examples palette, expand the Multibody menu, and then open the Double Pendulum example.

2. Expand the Multibody palette and then expand the Visualization menu.

3. Add two Cylindrical Geometry components below the planar link subsystems in the model workspace.

4. Connect the components as shown below.

5. From the same menu, add a Spherical Geometry component and place it to the right of the shared subsystem.

6. Right-click(Control-click for Macintosh) the Spherical Geometry component andselect Flip Horizontal.

7. Add a Path Trace component and place it between the two Cylindrical Geometry components.

84 • 4 Simulating and Visualizing a Model

8. Connect the components as shown below.

9. Select the rst Cylindrical Geometry component ( ) in the model workspace.

10. In the Inspector tab on the right side of the MapleSim window, change the radius of the cylinder to 0.3.

11. To select a color for the cylinder, click the box beside the color eld and click one of the color swatches.

12. Select the second Cylindrical Geometry component ( ) in the model workspace.

13. Change the radius of this cylinder to 0.3 and change the color.

14. To simulate the model, click the simulation button ( ) in the main toolbar. When the simulation is complete, the 3-D workspace is displayed. The 3-D workspace is

set to playback mode automatically and displays your model with the attached shapes.

15. To animate the model, click the play button ( ) below the 3-D workspace.

4.7 Visualizing a Multibody Model • 85

Building a Model in the 3-D Workspace

You can build MapleSim models by adding and connecting objects in the 3-D workspace. To addcomponents toa 3-Dmodel, youcan dragmultibody componentsfrom theMultibody palette, the Favorites palette, a custom library that you created, or from the search pane in the Libraries tab.

You can toggle between construct mode and playback mode to perform specic tasks in the 3-D workspace. In construct mode, you can add, connect, and lay out 3-D objects, and set initialconditions for jointsand other multibody components byusing graphical controls in the 3-D workspace. In playback mode, you can animate your 3-D model and specify camera tracking options to center an object in the 3-D workspace during an animation.

Any changesthat youmake toyour 3-Dmodel areautomatically shownin the block diagram representation displayed in the model workspace and vice versa. For example, if you add and connect a Flexible Beam component in the 3-D workspace, the block diagram representation of the Flexible Beam with the added connection lines will be displayed in the model workspace at the same time.

Notes:

• Subsystems cannot be created in the 3-D workspace. They must be created in the model workspace.

• Components from the multibody Forces and Moments, Sensors, and Visualization component libraries cannot be dragged into the 3-D workspace. You must add these components in the model workspace.

Moving Objects in the 3-D Workspace

In construct mode, you can position individual objectsor groups of objects by clicking and dragging the 3-D manipulators in the 3-D workspace.

To display the3-D manipulator for a single unconnected object, click the objectonce in the 3-D workspace.You can then click anddrag the bluearrow of the3-D manipulator to move the object along the Z axis, the green arrow to move the object along the Y axis, and the red arrow to move the object along the X axis. You can also click and drag the sphere at the center of the 3-D manipulator to move the object in all directions.

86 • 4 Simulating and Visualizing a Model

For a group of connected objects, the conguration of your model determines where the 3D manipulators are located.

• If your 3-D model contains a Fixed Frame component, click the square that represents the Fixed Frame component to display the 3-D manipulator.

• If your model does not contain a Fixed Frame component, click the object that denes the initial conditions for your system to display the 3-D manipulator. For example, if your model contains a Rigid Body component with its initial condition parameters set to Strictly Enforce, that Rigid Body component displays the 3-D manipulator. When a model is moved in the 3-D workspace, the initial conditions are updated for all of the other Rigid Body components that depend on the Rigid Body component that has its initial conditions set to Strictly Enforce.

• If your model does not contain a Fixed Frame component or a Rigid Body component with its initial conditions set to Strictly Enforce, click any of the objects in your 3-D model to display the 3-D manipulator. When you move the group of objects, the initial conditions of all of the multibody components in your model are set to Treat as Guess.

• Note: Todisplay 3-Dmanipulators, themultibody componentsin yourmodel mustcontain numeric parameter values. If custom parameter values dened in a parameter block, global parameter, or subsystemparameter have been assigned toa multibodycomponent, no 3-D manipulator will be displayed when you click that component in the 3-D workspace.

Assembling a 3-D Model

To generate a 3-D animation, you must assemble your 3-D model to display its initial conditions inthe 3-D workspace.This step is performed automaticallywhen you simulate your model; however, for certain models, you can perform this step manually by clicking the 3-

D viewupdate button( ) in constructmode. Byclicking thisbutton, youupdate the initial conditions and properties of your 3-D model without generating simulation data.

Note: You can only assemble 3-D models with a valid conguration and valid connection lines. For example, if you attempt to assemble a 3-D model with missing connection lines, an error message will be displayed in the console pane and no animationwill be generated.

Tip: To show the correct physical conguration of your 3-D model in its initial state, you may need to assemble your model after you edit model parameters and properties.

Using the Unenforce Constraints Button to Manipulate Joints in the 3-D Workspace

In constructmode, youcan select a joint object in the3-D workspaceand clickthe unenforce

constraints button( )to specify that the kinematicconstraints ofthe jointare notenforced in the3-D workspaceas you build your model. Joints withunenforced kinematicconstraints

4.7 Visualizing a Multibody Model • 87

are displayed in pink in the 3-D workspace and its initial conditions are not shown in the 3-D workspace as you build your model.

You may want to use the unenforce constraints button if, for example, you are creating a closed-loop modelin the3-D workspaceand you need a jointto remainin aspecic position as you are building and laying out your 3-D model.

Notes:

• The unenforce constraints button does not affect the actual initial conditions specied

for your joint components in the Inspector tab; it affects the initial conditions depicted in the 3-D workspace for display purposes only.

• Initial conditions for other joints with enforced kinematic constraints will be shown in the 3-Dworkspace, butwill notaffect relatedjoints withunenforced kinematicconstraints.

For example, consider a double pendulum 3-D model that contains a revolute joint with unenforced kinematic constraints and a second revolute joint with enforced kinematic constraints. If you change the initial angle of the joint with enforced kinematic constraints, the joint with the unenforced kinematic constraints will remain in its original position while the joint with enforced kinematic constraints will be shown at the new initial angle. To display all of the new initial conditions in the 3-D workspace, you must assemble your

model by running a simulation or clicking the 3-D view update button ( ).

Displaying Attached Shapes as Your Build a 3-D Model

When youconnect Cylindrical Geometry, TaperedCylinder Geometry, BoxGeometry, or Spherical Geometry components to your block diagram in the model workspace, the corresponding attached shapes are displayed in the 3-D workspace in both construct mode and playback mode.The attachedshape isdisplayed in the3-D workspaceafter you connect all of its ports to compatible ports of multibody components in the model workspace.

Working with CAD Geometry

CAD geometry can also be displayed in the 3-D workspace in both construct mode and playback mode. When you add a CAD Geometry component anywhere in the model workspace, the corresponding CAD image is displayed in the 3-D workspace regardless of whether the CAD Geometry component is connected to other components in your model. If a CAD Geometry component is not connected to other components, it will be drawn at the originof the3-D grid;if aCAD Geometry component is connectedto anothercomponent, it will be drawn at the origin of the coordinate frame of the modeling component to which it is attached.

You can dene the translational and rotational offset for CAD images either before or after connecting the corresponding CAD Geometry component to your model. To dene these

88 • 4 Simulating and Visualizing a Model

offsets, youcan select theCAD Geometry component inthe model workspaceand specify parameter values in the Inspector tab.

Example: Building a Double Pendulum Model in the 3-D Workspace

In thisexample, youwill buildand animatea double pendulum model in the 3-Dworkspace. You will perform the following tasks:

1. Add and move objects in the 3-D workspace.

2. Connect the 3-D objects.

3. Set initial conditions for the joints in your model.

4. Animate the 3-D model. In a new MapleSim document, the 3-D workspace is set to construct mode by default.

Adding and Moving Objects in the 3-D Workspace

1. Open a new MapleSim document.

2. At the bottomof the MapleSim window, click the 3-D view button ( ) to display the 3-D workspace.

3. In the Libraries tab, expand the Multibody palette and then expand the Bodies and Frames menu.

4. Fromthe palette,drag aFixed Frame component intothe 3-Dworkspace. Agray square, which represents the Fixed Frame component, is added to the 3-D workspace and its 3-D manipulator is displayed.

You can use this manipulator to position objects in the 3-D workspace.

4.7 Visualizing a Multibody Model • 89

5. Position the Fixed Frame object at the origin of the grid by clicking anddragging the 3-

D manipulator arrow controls.

6. From the Multibody → Joints and Motions menu, draga Revolute component into the

3-D workspace and place it to the right of the Fixed Frame.

7. Fromthe Multibody→ Bodies and Frames menu, draga RigidBody Frame component

into the 3-D workspace and place it to the right of the Fixed Frame.

8. From the same menu, drag a Rigid Body component into the 3-D workspace and place

it to the right of the Rigid Body Frame.

90 • 4 Simulating and Visualizing a Model

Tip: To zoom into and out from the 3-D workspace, rotate your mouse wheel. To pan your model, hold the Shift key and drag your mouse pointer in the 3-D workspace.

9. Fromthe samemenu, draganother RigidBody Frame component intothe 3-Dworkspace and placeit tothe right of the RigidBody. Thecomponents for the rst pendulum link have been added.

10. Repeat steps 7 to 9 to add components for a second pendulum link at the right of the last Rigid Body Frame component that you added.

Connecting 3-D Objects

You will now connect the objects that you added in the previous task.

1. Click the connect button ( ).

Maplesoft MAPLESIM user guide

Specifications and Main Features

Frequently Asked Questions

User Manual

MapleSim User's Guide

Contents

Introduction

1 Getting Started with MapleSim

1.1 Physical Modeling in MapleSim

Acausal and Causal Modeling

1.2 The MapleSim Window

1.3 Basic Tutorial: Modeling an RLC Circuit and DC Motor

Building an RLC Circuit Model

Specifying Component Properties

Adding a Probe

Simulating the RLC Circuit Model

Building a Simple DC Motor Model

Simulating the DC Motor Model

2 Building a Model

2.1 The MapleSim Component Library

Viewing Help Topics for Components

2.2 Browsing a Model

Model Tree

Model Navigation Controls

2.3 Defining How Components Interact in a System

2.4 Specifying Component Properties

Specifying Parameter Units

Specifying Initial Conditions

2.5 Creating and Managing Subsystems

Example: Creating a Subsystem

Viewing the Contents of a Subsystem

Adding Multiple Copies of a Subsystem to a Model

Example: Adding Subsystem Definitions and Shared Subsystems to a Model

Adding a Subsystem Definition to the Definitions Palette

Adding Multiple DC Motor Shared Subsystems to a Model

Editing Subsystem Definitions and Shared Subsystems

Example: Editing Shared Subsystems that are Linked to the Same Subsystem Definition

Example: Removing the Link Between a Shared Subsystem and its Subsystem Definition

Working with Stand-alone Subsystems

Example: Resolving Warning Messages in the Debugging Console

Example: Copying and Pasting a Stand-alone Subsystem

2.6 Global and Subsystem Parameters

Global Parameters

Example: Defining and Assigning a Global Parameter

Subsystem Parameters

Example: Assigning a Subsystem Parameter to a Shared Subsystem

Creating Parameter Blocks

Example: Creating and Using a Parameter Block

2.7 Attaching Files to a Model

2.8 Creating and Managing Custom Libraries

Example: Adding Subsystems and Attachments to a Custom Library

2.9 Annotating a Model

Example: Adding a Text Annotation to a Model

2.10 Entering Text in 2-D Math Notation

Example: Creating a Data Set in Maple

2.12 Best Practices: Building a Model

Best Practices: Laying Out and Creating Subsystems

Best Practices: Building Electrical Models

Best Practices: Building 1-D Translational Models

Best Practices: Building Multibody Models

Best Practices: Building Hydraulic Models

3 Creating Custom Modeling Components

3.1 Overview

3.2 Opening Custom Component Examples

3.3 Example: Nonlinear Spring-Damper Component

Opening the Custom Component Template

Defining the Component Name and Equations

Defining Component Ports

Generating the Custom Component

3.4 Working with Custom Components in MapleSim

3.5 Editing a Custom Component

4 Simulating and Visualizing a Model

4.1 How MapleSim Simulates a Model

4.2 Simulating a Model

Simulation Parameters

Editing Probe Values

Storing Parameter Sets to Compare Simulation Results

4.3 Simulation Progress Messages

4.4 Managing Simulation Results

4.5 Customizing Plot Windows