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.

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