Simulink Control Design™ - MathWorks

(1.34550e+00) scdbackhoeTRIM/Plant/Cylinder Base to Mounting Plate

(1.34208e+00) scdbackhoeTRIM/Plant/Cylinder Base to Mounting Plate

(1.33732e+00) scdbackhoeTRIM/Plant/Cylinder Base to Mounting Plate

(1.21415e+00) scdbackhoeTRIM/Plant/Cylinder Base to Mounting Plate

(5.03874e-01) scdbackhoeTRIM/Plant/Cylinder Base to Mounting Plate

(5.04915e-01) scdbackhoeTRIM/Plant/Cylinder Base to Mounting Plate

(3.02028e-01) scdbackhoeTRIM/Plant/Cylinder Base to Mounting Plate

(2.00116e-01) scdbackhoeTRIM/Out1

(2.80354e-01) scdbackhoeTRIM/Out1

(8.41676e-02) scdbackhoeTRIM/Plant/Lower Arm to Mounting Assembly

(9.96485e-02) scdbackhoeTRIM/Plant/Lower Arm to Mounting Assembly

(1.04079e-01) scdbackhoeTRIM/Plant/Lower Arm to Mounting Assembly

(9.08181e-02) scdbackhoeTRIM/Out1

(8.72986e-02) scdbackhoeTRIM/Out1

(2.96463e-02) scdbackhoeTRIM/Plant/Backhoe Arm/Upper-Lower Arm Joint

(9.04872e-03) scdbackhoeTRIM/Plant/Mounting Assembly/Mounting Base and Support Arms/Support Arm Left/Revolute Joint Arm

(2.39393e-03) scdbackhoeTRIM/Plant/Mounting Assembly/Mounting Base and Support Arms/Support Arm Right/Revolute Joint Arm

(1.28775e-03) scdbackhoeTRIM/Plant/Backhoe Arm/Hydraulic Actuator Lower - Upper Arm/Prismatic Joint

(1.61736e-04) scdbackhoeTRIM/Plant/Mounting Assembly/Mounting Base and Support Arms/Support Arm Left/Revolute Joint Arm

(1.59106e-04) scdbackhoeTRIM/Plant/Hydraulic Actuator Mounting - Lower Arm/Prismatic Joint

(1.70351e-05) scdbackhoeTRIM/Plant/Cylinder Base to Mounting Plate

(2.39957e-05) scdbackhoeTRIM/Plant/Hydraulic Actuator Mounting - Lower Arm/Prismatic Joint

(1.49012e-05) scdbackhoeTRIM/Plant/Hydraulic Actuator Mounting - Lower Arm/Hydraulic Actuator/Simulink-PS Converter1

(7.45058e-06) scdbackhoeTRIM/Plant/Backhoe Arm/Hydraulic Actuator Lower - Upper Arm/Hydraulic Actuator/Simulink-PS Converter1

(7.45058e-06) scdbackhoeTRIM/Plant/Backhoe Arm/Hydraulic Actuator Lower - Upper Arm/Hydraulic Actuator/Simulink-PS Converter1

Operating point specifications were successfully met.

Simulate Model

Simulate the model from the computed steady state.

set_param(mdl, 'LoadExternalInput','on')

set_param(mdl, 'ExternalInput','getinputstruct(op)')

set_param(mdl, 'LoadInitialState','on')

set_param(mdl, 'InitialState','getstatestruct(op)')

sim(mdl)

Open scope to inspect results.

open_system([mdl, '/Joint Angle Trajectories'])

1 Steady-State Operating Points