MapleSim User's Guide Copyright © Maplesoft, a division of Waterloo Maple Inc. 2016 MapleSim User's Guide Copyright Maplesoft, MapleSim, and Maple are all trademarks of Waterloo Maple Inc. © Maplesoft, a division of Waterloo Maple Inc. 2008-2016. All rights reserved. No part of this book may be reproduced, stored in a retrieval system, or transcribed, in any form or by any means — electronic, mechanical, photocopying, recording, or otherwise. Information in this document is subject to change without notice and does not represent a commitment on the part of the vendor. The software described in this document is furnished under a license agreement and may be used or copied only in accordance with the agreement. It is against the law to copy the software on any medium except as specifically allowed in the agreement. Linux is a registered trademark of Linus Torvalds. Macintosh is a trademark of Apple Inc., registered in the U.S. and other countries. Microsoft, Excel, and Windows are registered trademarks of Microsoft Corporation. Modelica is a registered trademark of the Modelica Association. All other trademarks are the property of their respective owners. This document was produced using Maple and DocBook. ISBN 978-1-926902-32-6 Contents Introduction ................................................................................................ xiii 1 Getting Started with MapleSim ........................................................................ 1 1.1 Physical Modeling in MapleSim ................................................................ 1 Topological or “Acausal” System Representation .......................................... 1 Mathematical Model Formulation and Simplification ..................................... 1 Advanced Differential Algebraic Equation Solvers ........................................ 1 Acausal and Causal Modeling ................................................................... 2 1.2 The MapleSim Window ........................................................................... 6 1.3 Basic Tutorial: Modeling an RLC Circuit and DC Motor ................................ 8 Building an RLC Circuit Model ................................................................. 8 Specifying Component Properties ............................................................. 12 Adding a Probe ..................................................................................... 12 Simulating the RLC Circuit Model ........................................................... 14 Building a Simple DC Motor Model ......................................................... 15 Simulating the DC Motor Model .............................................................. 16 2 Building a Model ......................................................................................... 19 2.1 The MapleSim Component Library .......................................................... 19 Viewing Help Topics for Components ....................................................... 20 Updating Models Created in MapleSim 7 or Earlier ..................................... 20 2.2 Browsing a Model ................................................................................. 20 Model Tree .......................................................................................... 21 Model Navigation Controls ..................................................................... 23 2.3 Defining How Components Interact in a System ......................................... 24 2.4 Specifying Component Properties ............................................................ 25 Specifying Parameter Units ..................................................................... 26 Specifying Initial Conditions ................................................................... 27 2.5 Creating and Managing Subsystems ......................................................... 28 Example: Creating a Subsystem ............................................................... 29 Viewing the Contents of a Subsystem ........................................................ 30 Adding Multiple Copies of a Subsystem to a Model ..................................... 31 Editing Subsystem Definitions and Shared Subsystems ................................ 34 Working with Standalone Subsystems ....................................................... 39 2.6 Global and Subsystem Parameters ............................................................ 42 Global Parameters ................................................................................. 42 Subsystem Parameters ............................................................................ 44 Creating Parameter Blocks ...................................................................... 45 Creating Parameter Sets ......................................................................... 50 Using Advanced Parameter and Variable Settings ........................................ 51 2.7 Attaching Files to a Model ...................................................................... 57 2.8 Creating and Managing Custom Libraries .................................................. 58 Example: Creating a Custom Library from an Existing Model ........................ 58 iii iv • Contents 2.9 Annotating a Model ............................................................................... 60 Example: Adding Text Annotation to a Model ............................................ 61 2.10 Entering Text in 2-D Math Notation ........................................................ 62 2.11 Creating a Data Set for an Interpolation Table Component ........................... 63 Example: Creating a Data Set in Maple ..................................................... 63 2.12 Best Practices: Building a Model ............................................................ 64 Best Practices: Laying Out and Creating Subsystems ................................... 64 Best Practices: Building Electrical Models ................................................. 65 Best Practices: Building 1-D Translational Models ...................................... 68 Best Practices: Building Multibody Models ................................................ 69 Best Practices: Building Hydraulic Models ................................................. 69 Best Practices: Enforcing Initial Conditions ................................................ 70 3 Creating Custom Modeling Components .......................................................... 71 3.1 Understanding Custom Components ......................................................... 71 Creating a Simple Custom Component ...................................................... 72 Typical Uses ........................................................................................ 73 Using The Custom Component Template ................................................... 74 3.2 Creating Custom Components with Signal-Flow Behavior ............................ 74 Creating a Simple Signal-Flow Custom Component ..................................... 74 Using Differential Equations in Custom Components ................................... 80 3.3 Creating Custom Components with Physical Connections ............................. 80 Deriving the System Equations for a Resistor ............................................. 81 3.4 Working with Custom Components in MapleSim ........................................ 82 Add Text and Pictures to a Custom Component ........................................... 82 Save a Custom Component as Part of the Current Model .............................. 84 Add a Custom Component to a Custom Library .......................................... 85 Edit a Custom Component ...................................................................... 85 3.5 Example: Creating a Nonlinear Spring-Damper Custom Component ............... 85 Opening the Custom Component Template ................................................. 86 Defining the Component Name and Equations ............................................ 87 Defining Component Ports ...................................................................... 87 Checking Dimensions ............................................................................ 90 Generating the Custom Component .......................................................... 90 4 Simulating and Visualizing a Model ................................................................ 93 4.1 How MapleSim Simulates a Model ........................................................... 93 Modelica Description ............................................................................. 93 Model Description ................................................................................. 93 System Equations .................................................................................. 93 Simplified Equations ............................................................................. 94 Integration and Event Handling ................................................................ 94 Simulation Results ................................................................................ 94 4.2 Simulating a Model ............................................................................... 95 Simulation and Advanced Simulation Settings ............................................ 96 Contents • v Editing Probe Values ............................................................................ 101 Storing Parameter Sets to Compare Simulation Results ..............................