How to deploy simscape models with tunable block parameters?

I have a simscape model that I wish to deploy with simulink complier to create a standalone application. The model contains blocks (specifically revolute joints) that I wish to be able to change properties when it is an executable without using matlab. I can change variables using 'setVariable', but this doesn't work for the block properties of interest. 'setBlockParameter' will change the desired properties but this seems to be incompatible with 'simulink.compiler.configureForDeployment' which won't let the model be rebuilt.

Sample code that doesn't work:

function deployParameterTuning(params_filename,scenario_filename)

mdl = 'UR10_Motion_Driven_sim' ; % Name of simscape model generated when code is ran

in = Simulink.SimulationInput(mdl) ;

in = in.setVariable('t_max', params.t_max) ; % This is the simulation time and does update

in = in.setBlockParameter([mdl '/Payload'],'Mass','params.mp') ; % This does not update

in = simulink.compiler.configureForDeployment(in) ;

out = sim(in) ;

end

Without the 'setBlockParameter' command all runs well, but the block parameter is not updated. Is there a work around?

Answer 1

[Guy Rouleau]

It looks like you need to enable the display of Simscape run-tim parameter settings in blocks dialog, this cna be done fomr the Simscape preferences.

See this answer: https://www.mathworks.com/matlabcentral/answers/579204-how-to-modify-or-tune-simscape-tunable-parameters-at-simulation-run-time

Yuo can read more in the doc here: https://www.mathworks.com/help/releases/R2020b/physmod/simscape/run-time-parameters.html

Once you se the Mass property of your block to be run-time tunable, you will be able to use setVariable on it.

Thanks,

Guy

[David Cheneler]

This works very well, thank you for pointing out this difference between tunable parameters in simscape as compared to simulink.

Is it possible to set the block parameters as 'Run-time' programmatically?

Also, is it possible to get the 'Signal Editor' block to re-read the .mat file defining the at run-time? I've tried to set the filename as a tunable parameter, but this doesn't seem to change anything with the original .mat file having been read in at compilation.

[Guy Rouleau]

For Simscape Multibody, the compile-time versus run-time property of parameters is usually the parameter name followed by "_conf". So for the Mass of a solid, it would be "Mass_conf" and the two valid choices are 'compiletime' and 'runtime'.

you can do "get_param(gcb,'dialogparameters')" to get the list of dialog parameters that cna be set using set_param.

It is not possible "re-read" the MAT-file for the Signal Editor once the model is compiled. A fw options you have:

1. Include multiple scenarios and change the scenario
2. Use Root-level Inport blocks. That way you will be able to read MAT-files using "load" and pass the signals to the Inport blocks using setExternalInput.

[David Cheneler]

That's great. Thanks!