Zero-order hold in SimMechanics?

Hi all,

I'm looking for informations about SimMechanics. I read on the User guide that SimMechanics doesn't run with discrete model. It runs only with Continuous state signals. My aim is to simulate the setpoint refresh. If I convert a discrete sample time signal, to a Simscape signal, can I use it in a SimMechanics joint? Can I give a setpoint discretized with a Zero-order hold block to a SimMechanics joint?

Thanks Federico

Answer 1

[Steve Miller]

Hi,

You can run a Simscape Multibody simulation with a fixed step solver. The model is represented by continuous states even when run with a fixed-step solver. Some inputs can vary in a discrete manner, such as torque inputs. Motion inputs, on the other hand, will need to be smoother otherwise we would have physically impossible situations.

If you upload a model that doesn't do what you expect, we could offer suggestions on how to improve it.

--Steve