Mathworks SIMSCAPE RELEASE NOTES

Simscape™ Release Notes

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Simscape™ Release Notes

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Summary by Version ............................... 1

Contents

Version 3.3 (R2010a) Simscape Software

Version 3.2 (R2009b) Simscape Software

Version 3.1 (R2009a) Simscape Software

Version 3.0 (R2008b) Simscape Software

Version 2.1 (R2008a) Simscape Software

Version 2.0 (R2007b) Simscape Software

Version 1.0 (R2007a) Simscape Software

Compatibility Sum mary for Simscape Software

............. 4

............. 8

............. 14

............. 18

............. 21

............. 25

............. 28

...... 30

iii

iv Contents

SummarybyVersion

This table provides quick access to what’s new in each version. For clarification, see “Using Release Notes” on page 2 .

Simscape™ Release Notes

Version (Release)

Latest Versi V3.3 (R2010a

V3.2 (R2009b)

V3.1 (R2009a)

V3.0 (R2

V2.1 (R2008a)

V2.0.1 (R2007b+)

)

008b)

New Features and Changes

Yes Details

No No Bug R

Version Compatibilit Consideratio

Yes Summary

No Bug Reports

Fixed Bugs and Known Problems

Bug Reports Includes fix

Bug Reports Includes fixes

Bug Repor Include

Bug Reports Includes fixes

Includes fixes

udes fixes

Incl

sfixes

eports

Related Documentation at Web Site

Printable R elease Notes: PDF

Current product documentation

0 (R2007b)

V2.

V1.0 (R2007a)

Yes Details

No Bug Reports

Includes fixes

Yes Summary

Bug Reports No

Simscape™ Release Notes

Using Release No

Use release note

• New features

• Changes

• Potential imp

Review the re product (for bugs, or comp

If you are up review the c you upgrad

What Is in t

New Featu

• New func

• Changes

s when upgrading to a new er version to learn about:

act o n your existing files and practices

lease notes for other M athWorks™ products required for this

example, MATLAB

atibility considerations in other products impact you.

grading from a softw are version other than the most recent one,

urrent release notes and all interim versions. For example, when

e from V1.0 to V1.2, review the release notes for V1.1 and V1.2.

he Release Notes

res and Changes

tionality

to existing functionality

tes

or Simulink®). Determine if enhancements,

Versio

When a n versi impac

Comp Repo in in comp

Fix

The vi

n Compatibility Considerations

ew feature or change introduces a reported incompatibil ity between

ons, the Compatibility Considerations subsection explains the

atibility issues reported after the product release appear under Bug rts at The MathWorks™ Web site. Bug fixes can sometimes result compatibilities, so review the fixed bugs in Bug Reports for any

atibility impact.

ed Bugs and Known Problems

MathWorks offers a user-searchable Bug Reports database so you can

ew Bug Reports. The development team updates this database at release

SummarybyVersion

time and as more information becomes available. Bug Reports include provisions for any known workarounds or file replacem ents. Information is available for bugs existing in or fixed in Release 14SP2 or later. Information is not avail able for all bugs in earlier releases.

Access Bug Reports using y our MathWorks Account.

Simscape™ Release Notes

Version 3.3 (R2010a) Simscape Software

This table summarizes what’s new in Version 3.3 (R2010a):

New Features and Changes

Yes Details below

Version Compatibility Considerations

Yes Summary

New features and changes introduced in this version are

• “Magnetic Blocks Added to Foundation Library” on page 4

• “Simulation Data Logging Now Available” on page 5

• “Simscape Diagnostics Improvements” on page 5

• “Sparse Jacobian Support” on page 5

• “Ability to Generate Simscape Language Equations from Symbolic

Expressions” on page 6

• “Placing Simscape Blocks in Nonvirtual Subsystems” on page 6

• “Trimming and Linearization Documentation Enhancements” on page 6

• “Changes to Simscape Demos” on page 6

Fixed Bugs an d Known Problems

Bug Reports Includes fixes

Related Documentation at Web Site

Printable Release Notes: PDF

Current product documentation

Magnetic Blocks Added to Foundation Library

Foundation library now contains magnetic domain and Magnetic block library. This library contains electromagnetic elements, such as reluctances, actuators, and electromagnetic converters, as well as magnetic sensors and sources.

Use these blocks to model magnetic circuits that can be repres ented by a one-dimensional flux flow, for example, solenoids and transformers.

Magnetic block models are based on the following assumptions:

Version 3.3 (R2010a) Simscape™ Software

• The magnetic system is assumed lossless. You can model losses in

interconnecting systems instead – in electric systems using resistors and in mechanical systemsusingfriction.

• Modeling of superconductors (with zero relative permeability) is not

supported.

For more information see the block reference pages. See also “Simscape™ Foundation Domains” for information on the magnetic domain definition. The Across variable is magnetomotive force (mmf), and the Through variable is flux. Note that these result in a pseudo-bond graph, because the product of mmf and flux is energy, not power.

Simulation Data Logging Now Available

You can now log simulation data to workspace for debugging and verification purposes. Data logging lets you analyze how internal block variables change with time during simulation. For example, you may want to see that the pressure in a hydraulic cylinder is above some minimum value, or compare it against the pump pressure. If you log simulation data to workspace, you can later query, plot, and analyze it without rerunning the simulation. For more information, see “Logging Simulation Data” in the Simscape User’s Guide.

Simscape Diagnostics Improvements

Simscape error messages triggered by initial dynamic state inconsistencies and by nonlinear solver converg ence failures are now more detailed. These messages report specific components of your models that may have caused the error.

Sparse Jacobian Support

You can now use a Jacobian method with an implicit Simulink solver in your Simscape models. You can choose a method yourself or allow Simulink todetermineanappropriateJacobianmethodforyou. Dependingonthe sparsity pattern and number of states of your model, your simulation may be more efficient.

See “Choosing a Jacobian Method for an Implicit Solver” in the Simulink documentation.

Simscape™ Release Notes

Ability to Gener from Symbolic Ex

If you have Symbo

simscapeEquat

symbolic expr Equations in t

ion

essions. For more information, see Generating Simscape

he Symbolic Math Toolbox documentation.

Placing Sims

Nonvirtual s subsystems a blocks. How nonvirtual in the Simsc

ubsystems that support continuous states include Enabled

nd Atomic subsystems. These subsystems can contain Simscape

ever, physical connections and physical signals must not cross

boundaries. For more information, see “Restricted Simulink Tools”

ape User’s G uide.

ate Simscape Language Equations

pressions

lic Math Toolbox™ software, you can use the

function to generate Simscape language equations from

cape Blocks in Nonvirtual Subsystems

Compatibility Considerations

Simscape to cross n types of c connect simulat Network

solver no longer permits physical connections and physical signals

onvirtual subsystem boundaries, because the semantics of these

onnections are unclear. If either a physical signal or a physical ion crosses a nonvirtual boundary, the solver issues an error upon ion. To resolve the issue, place all blocks belonging to a given Ph ysical

inthesamenonvirtualsubsystem.

Trimmi Enhanc

The do revis an Ope

Chan

The f

ng and Linearization Documentation

ements

cumentation on Simscape model trimming and linearization has been

ed and expanded. See “Finding an Operating Point” and “Linearizing at

rating Point”.

ges to Simscape Demos

ollowing demos have been added in Version 3.3:

Version 3.3 (R2010a) Simscape™ Software

Demo Name

Circuit Breaker (

ssc_circuitbreaker)

Solenoid with Magnetic Blocks

ssc_solenoid_magnetic)

(

Description

Implements a simple circuit breaker model.

Shows how to model a solenoid using the electromagnetic blocks from the new Magnetic block library.

Simscape™ Release Notes

Version 3.2 (R2009b) Simscape Software

This table summarizes what’s new in Version 3.2 (R2009b):

New Features and Changes

Yes Details below

Version Compatibility Considerations

Yes—Details labeled as Compatibility Considerations, below. See also Summary.

New features and changes introduced in this version are

• “Pneumatic Blocks Added to Foundation Library ” on page 8

• “New and Enhanced Switches ” on page 10

• “Intermediate Terms in Simscape Language Equations” on page 10

• “Local Solver Support in Physical Networks” on page 10

• “Simulink Manifest Tool Support” on page 11

• “SimState Support” on page 11

• “Model Reference Accelerator Mode Support ” on page 12

• “Physical Port Rotatio n for Simscape Blocks” on page 12

• “Changes to Simscape Demos” on page 12

Fixed Bugs an d Known Problems

Bug Reports Includes fixes

Related Documentation at Web Site

Pneumatic Blocks Added to Foundation Library

Foundation library now contains pneumatic domain and Pneumatic block library. This library contains pneumatic elements, such as orifices, chambers, and pneumatic-mechanical converters, as well as pneumatic sensors and sources.

Use these blocks to model pneumatic systems, for applications such as:

Version 3.2 (R2009b) Simscape™ Software

• Factory automation — basic pneumatic linear/rotational actuators, valves

(variable orifices), and air supply

• Robotics — robotic arms and haptic interfaces

• Gaseous transportation systems and pipelines

You can also use these blocks to m odel dry air and low pressure flows, for example, for HVAC applications.

Pneumatic block models are based on the following assumptions:

• Working fluid is an ideal gas satisfying the ideal gas law.

• Specific heats at constant pressure and constant volume, c

and cv,are

constant.

• Processes are adiabatic, that is, there is no heat transfer between

components and the environment (except for components with a separate thermal port).

• Gravitational effects are neglected.

For more information see the block reference pages, as well as “Modeling Pneumatic Systems” in the Simscape User’s Guide.

Compatibility Considerations

To avoid duplicate block names in different Simscape domains and increase naming consistency across domains, the following hydraulic blocks have been renamed:

Old Block Name New Block Name

ant Area Orifice

Const

tant Volume Chamber

Cons

on Chamber

Pist

Resistive Tube Hydraulic Resistive Tube

ant Area Hydraulic Orifice

Const

tant Volume Hydraulic

Cons

ber

Cham

aulic Piston Chamber

Hydr

Variable Area Orifice Variable Area Hydraulic O rifice

Simscape™ Release Notes

Old Block Name New Block Name

Variable Chamber Variable Hydraulic Chamber

Ideal Hydraulic Flow Rate Sensor Hydraulic Flow Rate Sensor

Ideal Hydraulic Pressure Sensor Hydraulic Pressure Sensor

Ideal Hydraulic Flow Rate Source Hydraulic Flow Rate Source

Ideal Hydraulic Pressure Source Hydraulic Pressure Source

Old models containing any of these blocks will be updated automatically once youopenandsavethem.

New and Enhanced Switches

The following switching capability enhancements have been implemented in Foundation libraries:

• New Physical Signal PS Switch block has been added to the Nonlinear

Operators library. It contains three physical signal input ports, a physical signal output port, and one parameter, Threshold. If the second input is greater than or equal to the threshold, then the output is connected to the first input. Otherwise, the output is connected to the third input. The second input never connects to the output.

• Electrical Switch block has been enhanced to use a value specified in the

Threshold parameter (rather than zero) for opening a nd closing the switch.

Intermediate Terms in Simscape Language Equations

You can now introduce intermediate terms in Simscape Language equations by using the equation readability, as well as avoid duplicating information by defining an intermediate term once and then using it in multiple equations. For more information, see the Simscape Language Guide.

let and in keywords. This functionality helps increase the

LocalSolverSupportinPhysicalNetworks

The Solver Configuration block now lets you use sample-based local solver with a specific sample time. In sample-based simulation,allthePhysical

Version 3.2 (R2009b) Simscape™ Software

Network states, otherwise represented as continuous, become discrete states. The solver updates the states once per time step. This option is especially useful for code generation, or hardware-in-the-loop (HIL) simulations. For more information, see the Solver Configuration reference page.

Simulink Manifest Tool Support

Dependency analysis tools for Simscape files have been added in this release. They consist of the following command-line options:

•

simscape.dependency.file — Perform dependency analysis for a single

Simscape file.

•

simscape.dependency.lib — Perform dependency analysis for a Simscape

custom library.

•

simscape.dependency.model — Perform dependency analysis on a model

containing Simscape and Simulink blocks.

Manifest reports generated using Simulink Manifest Tools now also include model dependencies for the Simscape blocks. For more information, see “Checking File and M odel Dependencies” in the Simscape Language Guide.

SimState Support

Simscape software now supports Simulink SimState feature, introduced in R2009a. This feature allows you to save all runtime data necessary for restoring the simulation state of a model. For more information, see “Saving and Restoring the Simulation State as the SimState” in the Simulink User’s Guide.

Note When using Sim S ta t e to save and restore simulations of models involving Simscape blocks, please ensure both

'SrcWorkSpace' to be 'base' by using:

simset('DstWorkspace', 'base', 'SrcWorkspace', 'base')

'DstWorkSpace' and

Simscape™ Release Notes

Model Reference Accelerator Mode Support

Simscape and its add-on products now fully support Model Reference Accelerator Mode, both for model simulation and for code generation.

Physical Port Rotation for Simscape Blocks

When you rotate a reg ular Simulink block, its ports are by default reordered after rotation, to maintain the left-right and top-down block diagram orientation convention used in control system modeling applications. This convention is not applicable to physical m odeling and is potentially confusing, because it results in effectively rotating and flipping the block at the same time.

Therefore, starting with Version 3.2 (R2009b), when you rotate a Simscape block (including blocks from add-on products), its ports are not reordered. This behavior is similar to that of the masked blocks with Port Rotation set to

Physical. F or illustration of differences between the default port rotation

type and the physical port rotation type, see “Changing a Block’s Orientation” in the Simulink User’s Guide.

Demo Name

Pneumatic Actuation Circuit (

ssc_pneumatic_actuator)

Compatibility Considerations

This change in the behavior of the ports after block rotation may result in visually crossed connection lines in some of your existing block diagrams with rotated blocks. The effect is purely cosmetic and has no impact on actual model connections or simulation.

Changes to Simscape Demos

The following demos have been added in Version 3.2:

Description

This demo shows how the Foundation Library pneumatic components can be used to model a controlled pneumatic actuator. The Directional 5-way valve, Double-acting pneum a tic actuator and Pipe blocks are masked subsystems created from Foundation Library blocks.

Version 3.2 (R2009b) Simscape™ Software

Pneumatic Motor (

ssc_pneumatic_motor)

Pneumatic Motor and Directional Control Valve (

ssc_pneumatic_motor_and_valve)

This demo shows how the Rotational Pneumatic-Mechanical Converter block can be used to approximate the behavior of a pneumatic vane motor.

This model shows the pneumatic vane motor, as defined in the Pneumatic Motor demo, deployed in a typical pneum a tic circuit.

Simscape™ Release Notes

Version 3.1 (R2009a) Simscape Software

This table summarizes what’s new in Version 3.1 (R2009a):

New Features and Changes

Yes Details below

Version Compatibility Considerations

Yes—Details labeled as Compatibility Considerations, below. See also Summary.

New features and changes introduced in this version are

• “Simscape Language Source Protection” on page 14

• “Expanded MATLAB Support of Simscape Files” on page 15

• “Viewable and Customizable Source Files for Foundation Library Blocks”

on page 15

• “Simscape Language Syntax C ha n ges ” on page 16

• “Increased Efficiency of Simscape Language Equations Processing” on

page 16

• “New Physical Signal Blocks to Facilitate Rounding ” on page 17

• “Model Reference Accelerator Mode Support ” on page 17

Fixed Bugs an d Known Problems

Bug Reports Includes fixes

Related Documentation at Web Site

• “Changes to Simscape Demos” on page 17

Simscape Language Source Protection

Simscape language files can be protected to enable model sharing without disclosing the component or domain source. You can then share the protected (executable) files without disclosing the file content (similar to P-code vs M-code). While Simscape source files have the extension protected files have the extension

Use the

ssc_protect command to protect individual files and directo ries .

.sscp.

.ssc,Simscape

Version 3.1 (R2009a) Simscape™ Software

Use the ssc_mirror command to create a protected copy of a whole package, along with a custom block library built from it.

For more information, see “Using Source Protection for Simscape Files”.

Expanded MATLAB Support of Simscape Files

MATLAB s upport of Simscape files has been expanded:

• If you issue the

MATLAB Editor. The Simscape file must be on the MATLAB path, or in a package residing in a directory on the MATLAB path. For more information on packaging Simscape files, see “Organizing Your Simscape Files”.

If you issue the corresponding Simscape source file ( thesamedirectoryastheSimscapeprotectedfile.

• Issuing the

component description, that is, all the com ments immediately following the domain or component declaration, in the MATLAB Command Window.

• MATLAB Editor now supports syntax highlighting of Simscape files,

similar to M-files. For more information, see “Making MATLAB Code Files More Readable”.

open command on a Simscape file, the file will open in the

open command on a Simscape protected file (*.sscp), the

*.ssc) will open, provided it exists in

help command on a Simscape file displays the domain or

Viewable and Customizable S ource Files for Foundation Library Blocks

You can now view the source files for many Foundation library blocks. When you open the block dialog box, it contains a link:

View source for BlockName

Click this link to open the Simscape sou rce file for this block in the MATLAB Editor. To customize the block for your application, edit the source file and save it in a package directory. For more information, see “Using Simscape Files in Block Diagrams”.

Simscape™ Release Notes

Compatibility Considerations

The block source has been optimized, with some previou sly defined but unused variables eliminated. There for e, when you load an old model containing Foundation blocks, you might get warnings, for example:

Warning: In instantiating linked block 'model/R1' : Resistor block (mask) does not

have a parameter named 'current_Log'.

You can safely ignore these warnings. Once you save the model, the warnings will disappear.

Simscape Language Syntax Changes

The following changes have been implemented in S imscape language:

• The

• The name o f a Simscape file must match the name of the component or

For more information, see the Simscape Language Guide.

throughs keyword has been obsoleted. Use

variables(Balancing=true) to declare Through variables in a domain.

equation keyword has been changed to equations.

domain it defines. If this is not the case, you will get an error when trying to build a library or use the block in a model.

Compatibility Considerations

The changes are relatively minor, but may require modifying your existing Simscape files. The following table summarizes the old and new syntax.

Old Syntax

throughs variables(Balancing=true)

equation equations

New Syntax

Increased Efficiency of Simscape Language Equations Processing

Simscape language equations are now processed more efficiently, reducing thetimerequiredtoprocessequationswithmultiple

if statements.

Version 3.1 (R2009a) Simscape™ Software

New Physical Sig

Three new Physic library:

• PS Ceil block pe

• PS Floor block

• PS Fix block pe

Model Refere

Simscape an Mode for mod Accelerato and SimDriv

Changes to

The follo

Demo Name

Creating A New Circuit (

ssc_new_elec)

nal Blocks to Facilitate Rounding

al Signal blocks have been added to the Nonlinear Operators

rforms rounding of the signal toward positive infinity

performs rounding of the signal toward negative infinity

rforms rounding of the signal toward zero

nce Accelerator Mode Support

d i ts add-on products now support Model Reference Accelerator

el simulation, but not for code generation. Model Reference

r Mode for code generation is supported only by SimMechanics™

eline™ software.

Simscape Demos

wing demo has been added in Version 3.1:

Description

Usethisdemoasatemplateforcreatinganew electrical mo de l. O pen the demo and use File > Save As to s ave it under the desired model name. Then delete the unwanted components and add new ones. This demo also opens an Electrical Starter Palette, which contains links to the most often used electrical components.

Simscape™ Release Notes

Version 3.0 (R2008b) Simscape Software

This table summarizes what’s new in Version 3.0 (R2008b):

New Features and Changes

Yes Details below

Version Compatibility Considerations

Yes—Details labeled as Compatibility Considerations, below. See also Summary.

New features and changes introduced in this version are

• “Simscape Language” on page 18

• “Explicit Solvers” on page 19

• “New Ways to Model Variable Chambers” on page 19

• “Model Reference Support ” on page 20

• “More Solver Performance and Robustness Enhancements ” on page 20

Fixed Bugs an d Known Problems

Bug Reports Includes fixes

Related Documentation at Web Site

Simscape Language

NewSimscapelanguageextendstheSimscapemodelingenvironmentby enabling you to create new components that do not exist in the Foundation library or in any of the add-on products. It is a dedicated textual physical systems modeling language with the following characteristics:

• Derives from MATLAB and familiar to those who use MATLAB

• Contains additional constructs specific to physical modeling and excludes

constructs that have nothing todowithphysicalmodeling

• Incorporated into the Simscape modeling inte rface

• Not focused on algorithm development

TheSimscapelanguageisintendedtomakemodelingphysicalsystemseasy and intuitive. It lets you create new physical domains and components as

Version 3.0 (R2008b) Simscape™ Software

textual files and then use them in Simscape block diagrams to model the desired physical effects. For more information, see the Simscape Language Guide.

Explicit Solvers

Itisnowpossibletochooseanyvariable-step or fixed-step solver for models containing Simscape blocks. Note, however, that implicit solvers, such as ode14x, ode23t, and ode15s, are still a better choice for a typical model. Inparticular,forstiffsystems,implicit solvers typically take many fewer timesteps than explicit solvers, such as ode45, ode113, and ode1.

By default, you w ill get a warning when using an explicit solver for a model containing Simscape blocks. For models that are not stiff, however, explicit solvers can be effective, often taking fewer timesteps than implicit solvers. Depending on the type of your model, you can configure your preferences to either turn off this warning (if your model is not stiff) or even change it into an error (to avoid inadvertent use of explicit solvers), by using the Simscape pane of the Configuration Parameters dialog box.

If you use an explicit solver, it requires time derivatives of the input signals. By default, needed input derivatives are provided by filtering the input through a low-pass filter. The derivative of the filtered input can then be computed by the Physical Netw orks simulation engine. The new Derivatives tab in the Simulink-PS Converter dialog box lets you turn off input filtering and instead provide the first derivative of input as an additional input signal to the Simulink-PS Converter block. For more information, see the Simulink-PS Converter block reference page.

Because input filtering can appreciably change the input signal and drastically affect simulation results if the time constant is too large, a warning is issued when input filtering is u sed. Th e warning indicates w hich Simulink-PS Converter blocks have their input signals filtered. This warning can also be turned off (or changed to an error) by changing the preferences on the Simscape pane of the Configuration Parameters dialog box.

New Ways to Model Variable Chambers

There are now two blocks that let you model fluid compressibility in variable chambers:

Simscape™ Release Notes

• Piston Chamber block lets you model fluid compressibility in a chamber

created by the piston in a cylinder. It replaces the Variable Volume Chamber block, available in previous releases.

• Variable Chamber block lets you model fluid compressibility in variable

volume chambers of any shape. The instantaneous value of the chamber volume is provided by using a physical signal port.

Compatibility Considerations

The Variable Volume Chamber block, available in previous releases, has been deprecated. It has been replaced by the Piston Chamber block in other (structural) blocks and in demos shipped with the product. If you have used theVariableVolumeChamberblockin your models, it will continue to work. G oing forward, however, use the Piston Chamber block to model fluid compressibility in cylinder chambers.

Model Reference Support

Simscape software now supports the Simulink model referencing functionality in Normal mode. Other Simulink models can now reference Simscape models in normal (non-code-generation) execution. Simscape models continue to be abletoreferenceSimulinkmodels(that do not contain Simscape blocks) in normal execution. See “Limitations” for more details.

More Solver Performance and Robustness Enhancements

Version 3.0 contains multiple further enhancements to simulation algorithms, resulting in improved robustness and reliability.

Version 2.1 (R2008a) Simscape™ Software

Version 2.1 (R2008a) Simscape Software

This table summarizes what’s new in Version 2.1 (R2008a):

New Features and Changes

Yes Details below

Version Compatibility Considerations

No Bug Reports

New features and changes introduced in this version are

• “Trimming Now Available for Simscape Models” on page 21

• “Thermal Unit Conversions Now Supported” on page 21

• “Enhancement to Specifying Units” on page 22

• “New Blocks” on page 23

• “Enhancements to Simulation Algorithms” on page 23

• ““What’s T his?” Context-Sensitive Help Available for Simulink

Configuration Parameters Dialog” on page 23

• “New Simscape Demo” on page 24

Fixed Bugs an d Known Problems

Includes fixes

Related Documentation at Web Site

Trimming Now Available for Simscape Models

Finding and managing operating points by trimming has been implemented for models that inclu de Simscape and Sim Hydraulics Control Design™ product is required for using this functionality. For more information, see “Finding an Operating Point” in the Simscape documentation.

blocks. Simulink

Thermal Unit Conversions Now Supported

You can now specify temperature for your thermal models in a variety of units, including degrees Celsius, Fahrenheit, and Rankine. The unit manager automatically h andles conversions between thermal units.

Simscape™ Release Notes

Thermal units sometimes require an affine conversion, that is, a conversion that performs both multiplication and addition. In situations when you deal with a relative, rather than absolute, temperature, you need to convert using just the linear term. Thermodynamic variables in block dialogs are automatically tagged as appropriate and handled by the unit manager. However, when an input or output signal is related to thermodynamic variables and contains units of temperature, you must decide whether affine conversion nee ds to be applied. The Simulink-PS Converter and PS-Simulink Converter block dialogs now contain the Apply affine conversion checkbox. If you select it, the unit manager uses the affine conversion, otherwise it applies the default linear conversion.

For more information, see “Thermal Unit Conversions” in the Simscape documentation, as well as the Simulink-PS Converter and PS-Simulink Converter block reference pages.

The

pm_addunit command has also been modified to support affine

conversions. Its second argument, real scalar or a 1x2 array. If this argument has two elements, then it is specifying an affine conversion, with the first element (a positive real number) being the linear conversion coefficient, and the second being the offset.

conversion, may now be either a positive

Enhancement to Specifying Units

Simscape block dialogs have drop-down combo boxes for units next to a parameter value. You can either select a unit from the drop-down list, or type a commensurate unit name (or a mathematical expression with unit names) directly into the units combo box of the block dialog . For more information, see “Specifying Units in Block Dialogs” in the Simscape documentation.

Similarly, the Simulink-PS Converter and PS-Simulink Converter block dialogs now contain a drop-down list, which is prepopulated with some common input or output units. You can either select a unit from the list or type a unit name, or a mathematical expression with unit names. Note that you must still match the unit type:

• For a PS-Simulink Converter block, these units must be commensurate

with the units of the input physical signal coming into the block.

Version 2.1 (R2008a) Simscape™ Software

• Signal units that you specify in a Simulink-PS Converter block must match

the input type expected by the Simscape block connected to it.

New Blocks

Version 2.1 contains two new blocks:

• Gyrator block in the Electrical Elements library simulates a n ideal gyrator,

which can be used to implement an inductor with a capa ci tor.

• PS Abs block in the Physical Signals library returns absolute value of

input signal.

Enhancements to Simulation Algorithms

Version 2.1 contains multiple enhancements to simulation algorithms, resulting in improved robustness and reliability.

“What’s This?” Context-Sensitive Help Available for Simulink Configuration Parameters Dialog

R2008a introduces “What’s This?” context-sensitive help for parameters that appear in the Simulink Configuration Parameters dialog, including those on the Simscape pane. This feature provides quick access to a d etailed description of the parameters, savingyouthetimeitwouldtaketofindthe information in the Help Browser.

To use the "What’s This?" help, do the following:

1 Placeyourcursoroverthelabelofaparameter.

2 Right-click. A What’s This? context menu appears.

For example, the following figure shows the What’s This? context menu appearing after a right-click on the Start time parameter in the Solver pane.

Simscape™ Release Notes

3 Click What’s This?. A context-sensitive help window appears showing a

description of the parameter.

New Simscape Demo

The following demo has been added in Version 2.1:

Demo Name

House Heating System

ssc_house_heating_system)

(

Description

The demo represents a simple house heating system consisting of a heater, thermostat, and a house structure with four thermally distinguishable parts: inside air, house walls, windows, and roof. You can investigate system behavior w ith the h eating system turned on or off, and plot the heat cost and indoor versus outdoor temperatures.

Version 2.0 (R2007b) Simscape™ Software

Version 2.0 (R2007b) Simscape Software

This table summarizes what’s new in Version 2.0 (R2007b):

New Features and Changes

Yes Details below

Version Compatibility Considerations

No Bug Reports

New features and changes introduced in this version are

• “Code Generation Now Available for Simscape Models” on page 25

• “New Thermal Block Libraries ” on page 25

• “Additional Physical Signal Blocks” on page 26

• “Improved Simulation Performance ” on page 26

• “New Simscape Demos” on page 27

Fixed Bugs an d Known Problems

Includes fixes

Related Documentation at Web Site

Printable Release Notes: PDF

Current product documentation

Code Generation Now Available for Simscape Models

Code generation has been implemented for models that include Simscape and SimHydraulics blocks. For more information, see “Generating Code” in theSimscapedocumentation.

New Thermal Block Libraries

Version 2.0 contains new block libraries of fundamental thermal elements, sensors, and sources:

• Conductive Heat Transfer

• Convective Heat Transfer

• Radiative Heat Transfer

• Thermal Mass

Simscape™ Release Notes

• Thermal Reference

• Ideal Heat Flow Source

• Ideal Heat Flow Sensor

• Ideal Temperature Source

• Ideal Temperature Sensor

Additional Physical Signal Blocks

The new Physical Signal blocks introduced in Version 2.0 are listed below:

• PS Constant

• PS Math Function

• PS Max

• PS Min

• PS Sign

Improved Simulation Performance

In Version 2.0, various solver improvem ents have led to improved simulation performance:

• Enhanced handling of dependent dynamic states (higher-index DAEs)

Simscape can now handle dependencies among the dynamic states as long as they are linear in the states and independent of time and inputs. This allows you, for example, to connect capacitors in parallel (even with their parasitic series resistances set to 0), inductors in series, and so on.

• Significant reduction of the number of equations, which substantially

increased simulation speed

The typical speedup of your models is between 5 and 10 times. There are some models that are below and above this range. Also, the number of states and equations changed between releases. This means that you will have to reset any calculations that relied on the states (such as initial state setting).

Version 2.0 (R2007b) Simscape™ Software

The changes to the simulation technology are significant. You may find that some of your models may require different or tighter tolerances to converge, while others will require no change. Refer to the troubleshooting section in the User’s Guide for help in finding the cause of a problem if simulation failed.

New Simscape Demos

The following demos have been added in Version 2.0:

Demo Name

DC Motor Thermal Circuit

ssc_dc_motor_thermal_circuit)

(

Round Rod Heat Conduction

ssc_round_rod_heat_conduction)

(

Description

The demo illustrates how the thermal behavior of a motor can be simulated in lumped parameters.

The demo illustrates the usage of thermal blocks for d ev eloping a model of a long iron rod that is heated with a heat source through its left face. The right face and the outer cylindrical surface are open to atmosphere, with a force heat convection.

Simscape™ Release Notes

Version 1.0 (R2007a) Simscape Software

This table summarizes what’s new in Version 1.0 (R2007a):

New Features and Changes

Yes Details below

Version Compatibility Considerations

Yes—Details labeled as Compatibility Considerations, below. See also Summary.

New features introduced in this version are described here.

Fixed Bugs an d Known Problems

Bug Reports No

Related Documentation at Web Site

Product Introduction

Simscape software extends the Simulink product line with tools for modeling and simulating multidomain physical systems. It enables you to describe multidomain physical systems containing mechanical, hydraulic, and electrical components as physical networks.

Simscape key features are:

• Single modeling environment for modeling and simulating physical

systems, such as mechanical, electrical, and hydraulic systems

• Foundation library of physical modeling building blocks and fundamental

mathematical elements

• Connection blocks to bridge modeling domains

• Full simulation and limited editing capabilities for models built with

SimMechanics, SimDriveline, or Sim Hydraulics blocks (no license for these products required as long as the products are installed)

• Ability to specify units of parameters and variables, with all u n it conversion

handled automatically

Simscape software can be used for a variety of automotive, aerospace, defense, and industrial equipment applications. Together with

Version 1.0 (R2007a) Simscape™ Software

SimMechanics, SimDriveline, SimHydraulics, and SimPowerSystems™ (all available separately), Simscape lets you model complex interactions in electromechanical and hydromechanical systems.

Block Libraries Moved from SimHydraulics to Simscape

The Foundation and Utilities block libraries that used to be included in SimHydraulics ( V1.0 and V1.1) are now part of Simscape product.

Compatibility Considerations

Several blocks that used to be in SimHydraulics V1.1 and are now part of Simscape software have undergone changes that have compatibility impact. These blocks are:

• Fluid Inertia

• Inertia

• Mass

• PS Integrator

• Rotational Spring

• Translational Spring

Each of these blocks has a parameter that specif ies the initial condition for use in computing the block’s initial state at the beginning of a simulation run. In this version, there is a difference in the way these initial conditions are computed, and as a result, the blocks work differently than they used to in the previous version. For details, see the block reference pages.

Simscape™ Release Notes

Compatibility Summary for Simscape Software

This table summarizes new features and changes that might cause incompatibilities when you upgrade from an earlier version, or wh en you use files on multiple versions. Details are provided in the description of the new feature or change.

Version (Release) New Features and Changes with

Version Compatib ility Impact

Latest Version V3.3 (R2010a)

V3.2 (R2009b) See the Compatibility

V3.1 (R2009a) See the Compatibility

See the Compatibil ity Considerations subheading for this new feature or change:

• “Placing Sim scape Blocks in

Nonvirtual Subsystems” on page 6

Considerations subheading for this new features or changes:

• “Pneumatic Blocks Added to

Foundation Library ” on page 8

• “Physical Port Rotation for

Simscape Blocks” on page 12

Considerations subheading for these new features or changes:

• “Viewable and Customizable

Source Files for Foundation Library Blocks” on page 15

• “Simscape Language Syntax

Changes” on page 16

Compatibility Summary for Simscape™ Software

Version (Release) New Features and Changes with

Version Compatib ility Impact

V3.0 (R2008b) See the Compatibility

Considerations subheading

for this new feature or change:

• “New Ways to Model Variable

Chambers” on page 19

V2.1 (R2008a)

V2.0.1 (R2007b+)

V2.0 (R2007b)

None

V1.0 (R2007a) See the Compatibility

Considerations subheading for this new feature or change:

• “Block Libraries Moved from

SimHydraulics to Simscape” on page 29

Mathworks SIMSCAPE RELEASE NOTES

Specifications and Main Features

Frequently Asked Questions

User Manual