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20-sim 4.1 Getting Started

20-sim 4.1 Getting Started - Getting Started with 20-sim...

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Getting Started with 20-sim 4.1 © 2009, Controllab Products B.V. Author: Ir. C. Kleijn Disclaimer This manual describes the modeling and simulation package 20-sim. Controllab Products B.V. makes every effort to insure this information is accurate and reliable. Controllab Products B.V. will not accept any responsibility for damage that may arise from using this manual or information, either correct or incorrect, contained in this manual. Information in this document is subject to change without notice. No part of this document may be reproduced or transmitted in any form or by any means, electronic or mechanical, for any purpose, without the express written permission of Controllab Products B.V. Windows is a registered trademark of the Microsoft Corporation, USA. MATLAB is a registered trademark of The MathWorks, Inc., USA. Reference Kleijn, C. Getting Started with 20-sim 4.1 Enschede, Controllab Products B.V., 2009 ISBN 978-90-79499-06-9 Information Controllab Products B.V. Address: Drienerlolaan 5 HO-8266 7522 NB Enschede the Netherlands Phone: +31-53-4893096 Fax: +31-53-4892223 Internet: www.20sim.com www.controllab.nl E-mail: [email protected]
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i Table of Contents 1 INTRODUCTION 1 1.1 What is 20-sim 1 1.2 20-sim: a quick tour 2 1.3 Library 5 1.4 Block Diagrams 6 1.5 Iconic Diagrams 7 1.6 Bond Graphs 8 1.7 Model Files 11 1.8 Editor 11 1.9 Simulator 13 1.10 Toolboxes 14 2 INSTALLING 15 2.1 Versions and Licenses of 20-sim 15 2.2 Single License 16 2.3 Floating License 17 3 EQUATION MODELS 21 3.1 Introduction 21 3.2 Equation Mainmodel 23 3.3 Equation Submodel 32 4 BLOCK DIAGRAMS 45 4.1 Block Diagram (Mainmodel) 45 4.2 Block Diagram (Submodel) 51 5 ICONIC DIAGRAMS 57 5.1 Iconic Diagram (Electric) 57 5.2 View Menu 61 5.3 Iconic Diagram (Mechanical) 67 6 BOND GRAPHS 73 6.1 Bond Graph model 73
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Getting Started with 20-sim 4.1 ii 7 3D MECHANICS TOOLBOX 79 7.1 3D Mechanics Toolbox 79 7.2 Double Pendulum 80 7.3 Scara Robot 94 8 ANIMATION TOOLBOX 109 8.1 Animation Toolbox 109 8.2 3D Animation Basics 110 8.3 Planetary System 117 9 CONTROL TOOLBOX 123 9.1 Control Toolbox 123 10 FREQUENCY DOMAIN TOOLBOX 127 10.1 Frequency Domain Toolbox 127 11 MECHATRONICS TOOLBOX 129 11.1 Mechatronics Toolbox 129 11.2 How to use the Servo Motor Editor 130 12 REAL TIME TOOLBOX 141 12.1 Real Time Toolbox 141 13 TIME DOMAIN TOOLBOX 143 13.1 Time Domain Toolbox 143 INDEX 145
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1 1 Introduction 1.1 What is 20-sim 20-sim is a modeling and simulation program that runs under Microsoft Windows. With 20-sim you can simulate the behavior of dynamic systems, such as electrical, mechanical and hydraulic systems or any combination of these. 20-sim fully supports graphical modeling, allowing to design and analyze dynamic systems in a intuitive and user friendly way, without compromising power. 20-sim supports the use of components. This allows you to enter models as in an engineering sketch: by choosing components from the library and connecting them, your engineering scheme is actually rebuilt, without entering a single line of math!
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