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Simscape model, not matching theoretical one.

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Kamyar Taher
Kamyar Taher 2020년 10월 25일
댓글: Kamyar Taher 2020년 10월 28일
I have a problem to replicate on Simscape, a theoretical model. By comparing the bode diagram of the theoretical model (left) and the simscape model (right), we can see that the simscape model has a strange behavior in high frequencies.
The output is defined as y(t) = theta(t) + alpha(t)
I suspect the problem comes from the "Revolute1" that I use as a rotational spring in the Multibody part , but I'm not sure and I don't know how I should modify it.
I put in the image the parameters of Revolute1 and the last solid and the mechatronic part, just in case the problem come from there.

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Vasco Lenzi
Vasco Lenzi 2020년 10월 26일
Hi Kamyar
as far as I can tell you are not closing the kinematic loop between multibody and the electric motor, so the rotational spring in the revolut joint is not considered as load into the 1D network.
Please take a look at this example that showcase how to connect Simscape 1D and Multibody:
Usually the kinematic loop is closed like this to give you an idea:
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Kamyar Taher
Kamyar Taher 2020년 10월 28일
I tried modeling the spring and damper like this and I get the correct behavior now. I think I was misinterpreting how the damper and spring were acting. Thank you for your help!

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