How to integrate simscape driveline clutch with multibody components

I have a component that consists of the lever that can be driven by either a person pushing on the knob on the end or by a DC motor driving a worm/worm gear. The worm gear is clamped to the lever with friction pads so that the motor can rotate the lever or the user can push the lever acting against the clutch friction.

I'm not sure how much sense that description makes, but the bottom line is that I need to connect a motor to a rotating lever via a clutch. Currently I'm trying to tie the torque from the clutch to a revolute joint and the rotation rate from the revolute joint back to the clutch (like the hinge hardstop example here http://www.mathworks.com/matlabcentral/fileexchange/37636-simscape-multibody-3d---1d-interface-examples). The model compiles, but doesn't run. It fails on the S-PS block that is applying the hand force to the knob.

Any help with how to connect these blocks together will be greatly appreciated.

[David Bloch]

Hello Daniel,

did you find a Solution to this?

I have a similar issue:

https://de.mathworks.com/matlabcentral/answers/297059-driveline-worm-gear-in-simscape-multibody

Cheers, David

Answer 1

[Steve Miller]

Seems like you were close! To get this to work,

1. You need to connect 1D-3D interfaces between the Simscape Driveline model and the Simscape Multibody model.
2. An inertia needs to be placed on the Simscape Driveline side of the interface (can be small)
3. A stiff spring damper must appear between the two interface blocks so that the system is not overconstrained

I adapted shipping example smdoc_worm_gear, commenting out the Worm and Gear Constraint and putting in the Simscape Driveline block. The model is attached for your reference. Some tuning of the inertia, spring, and damper may be necessary to get fast simulation.