You can connect the hydraulic motor to SimMechanics via physical signals. That is, you can use a combination of Force Sensor and Velocity Source blocks to connect between Simscape and SimMechanics. You measure the force supplied by Simscape, apply it to a SimMechanics joint, then sense the joint motion and apply it back to Simscape.
To do this, you can either build the interface yourself with the above blocks, or download some pre-built library blocks and examples from this File Exchange entry:
A suggestion: For best results, try not to have any Simscape Mass/Inertia right by this interface. It works best if most (if not all) your masses are on the SimMechanics side.
- Sebastian
