Open Access

ARTICLE

Study of dynamic simulators with ADAMS and Matlab/Simulink for control systems

César Chávez-Olivares¹, Eduardo Rubio¹, Cesar Guzmán¹

1 Universidad Autónoma de Aguascalientes, Centro de Ciencias de la Ingeniería, México

* Corresponding Authors: César Chávez-Olivares (), Eduardo Rubio (), Cesar Guzmán ()

Revista Internacional de Métodos Numéricos para Cálculo y Diseño en Ingeniería 2022, 38(2), 1-18. https://doi.org/10.23967/j.rimni.2022.04.001

Accepted 29 March 2022; Issue published 07 April 2022

Abstract

ADAMS-MATLAB co-simulation is widely used in complex system development to control models of closed-loop mechanisms. An advantage of ADAMS is to facilitate the configuration of parameters such as friction. However, its mathematical friction model is unknown. There are alternatives such as Simscape Multibody that facilitate the configuration of any friction model. This paper presents a case study of dynamic simulation using the mathematical model of a mechanism in order to compare it with ADAMS and Simscape Multibody. The state-space model uses the parameters b and f_c – viscous and Coulomb friction coefficients. However, ADAMS uses only one dynamic friction parameter μ . Since both friction parameters do not appear in ADAMS, a parametric identification procedure was used to determine the equivalency between the friction coefficients b and f_c compared to μ . To identify the friction model of ADAMS, open-loop and closed-loop simulations were proposed. To compare the simulation results numerically, the L2 norm was used. The reference was the model solved with the ODE45 function.

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