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‎Models/BOF_TOF/Excavator_BOFTOFLoad_plot.m

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function Excavator_BOFTOFLoad_plot(ExcvGlobal,fLoad,test_type,pBoom,pStick,pBucket,pinForces,varargin)
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% Code to plot load chart
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% Copyright 2022-2023 The MathWorks, Inc
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% Copyright 2022-2024 The MathWorks, Inc
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% Assume no new figure needed
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createFigure = false;

‎Models/BOF_TOF/Excavator_LoadChart_Create.m

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function Excavator_LoadChart_Create(qBoomSet,qStickSet,qBucketSet,setupMdl,calcMdl,useFastRestart,varargin)
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% Code to create load chart based on simulations
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% Copyright 2022-2023 The MathWorks, Inc
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% Copyright 2022-2024 The MathWorks, Inc
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% If an axis handle has been passed, plot on that axis
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% Else, the standard figure will be used

‎Models/BOF_TOF/Excavator_LoadChart_Plot.m

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function Excavator_LoadChart_Plot(ExcvGlobal,bucketEdgeXY_set,load_set,varargin)
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% Code to plot load chart
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% Copyright 2022-2023 The MathWorks, Inc
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% Copyright 2022-2024 The MathWorks, Inc
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% Assume no new figure needed
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createFigure = false;

‎Models/BOF_TOF/Excavator_Param_BOFTOF_Calc.slx

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‎Models/BOF_TOF/Excavator_Param_BOFTOF_Setup.slx

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‎Models/BOF_TOF/Excavator_RunBOFTOF.m

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function [fLoad,test_type,pBoom,pStick,pBucket,PinForces] = Excavator_RunBOFTOF(setup_mdl,calc_mdl,testType)
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% Code to run BOF, TOF, or Load Capacity test
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% Copyright 2022-2023 The MathWorks, Inc
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% Copyright 2022-2024 The MathWorks, Inc
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if(endsWith(setup_mdl,'.slx'))
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setup_mdl = setup_mdl(1:end-4);

‎Models/BOF_TOF/Excavator_RunBOFTOF_sweep_pinLocRand.m

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% Script to sweep pin locations
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% Copyright 2022-2023 The MathWorks, Inc
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% Copyright 2022-2024 The MathWorks, Inc
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[~, PinLocTable] = Excavator_Pin_Locations_global('Design A');
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PinLocTableFINISH = PinLocTable;

‎Models/BOF_TOF/Excavator_getDesignPosition.m

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function [boomAngle, stickAngle, bucketAngle] = Excavator_getDesignPosition(ExcvGlobal)
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% Function to calculate angles that describe current position of excavator.
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% Copyright 2022-2023 The MathWorks, Inc
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% Copyright 2022-2024 The MathWorks, Inc
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% Boom Angle
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vecA = ExcvGlobal.Chassis.ToBoom-ExcvGlobal.Chassis.ToBoomCyl;

‎Models/BOF_TOF/Excavator_simlogToBOFTOF.m

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function [fLoad,test_type,pBoom,pStick,pBucket,pinForces]= Excavator_simlogToBOFTOF(logsoutData)
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% Function to extract load and pressures from simulation results.
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% Copyright 2022-2023 The MathWorks, Inc
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% Copyright 2022-2024 The MathWorks, Inc
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fLoad = logsoutData.get('Load_kN').Values.Data;
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pBoom = logsoutData.get('CylPr_bar').Values.Data(1);

‎Models/BOF_TOF/Excavator_simlogToBOFTOFPos.m

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% Function to extract initial configuration from simulation results of
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% setup model.
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% Copyright 2022-2023 The MathWorks, Inc
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% Copyright 2022-2024 The MathWorks, Inc
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BOFTOFPos.initBoomPistonPos = simlogData.LeftBoomPistonPos.Data(end); % [mm]
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BOFTOFPos.initStickPistonPos = simlogData.StickPistonPos.Data(end); % [mm]

‎Models/BOF_TOF/Excavator_simlogToPinForces.m

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function PinForces = Excavator_simlogToPinForces(logsoutData)
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% Function to extract pin forces from simulation results.
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% Copyright 2022-2023 The MathWorks, Inc
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% Copyright 2022-2024 The MathWorks, Inc
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pinForcesLog = logsoutData.get('Pin_Forces');
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pinNames = sort(fieldnames(pinForcesLog.Values));

‎Models/BOF_TOF/Pin_Locations/Excavator_Pin_Locations_global.m

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% Input argument is the name of the sheet where the pin locations are
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% stored.
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% Copyright 2022-2023 The MathWorks, Inc
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% Copyright 2022-2024 The MathWorks, Inc
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ExcvGlobalTable = readtable('Excavator_Pin_Locations_global.xlsx','Sheet',designName,'Range','B2:F15','VariableNamingRule','preserve');
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ExcvGlobalStruct = Excavator_Pin_Locations_table2struct(ExcvGlobalTable);

‎Models/BOF_TOF/Pin_Locations/Excavator_Pin_Locations_global2local.m

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% in Simscape Multibody. The Rigid Transform blocks must have the same
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% reference frame as defined below.
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%
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% Copyright 2022-2023 The MathWorks, Inc.
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% Copyright 2022-2024 The MathWorks, Inc.
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% Offset to local reference within part
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boom_offset = ExcvGlobal.Chassis.ToBoom;

‎Models/BOF_TOF/Pin_Locations/Excavator_Pin_Locations_plotGlobal.m

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% Excavator_Pin_Locations_plotGlobal(ExcvGlobal,<axis handle>)
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%
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% Copyright 2022-2023 The MathWorks, Inc
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% Copyright 2022-2024 The MathWorks, Inc
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partfill_clr = [1 1 0.2];
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partedge_clr = [0.6 0.6 0.6];

‎Models/BOF_TOF/Pin_Locations/Excavator_Pin_Locations_simlogToGlobal.m

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% Function to extract pin locations relative to global frame from
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% simulation results
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% Copyright 2022-2023 The MathWorks, Inc
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% Copyright 2022-2024 The MathWorks, Inc
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Boom.ToBoomCyl = simlogData.Boom.B1.Data;
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Boom.ToStickCyl = simlogData.Boom.B2.Data;

‎Models/BOF_TOF/Pin_Locations/Excavator_Pin_Locations_table2struct.m

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% MATLAB structure is used by model as a mask parameter to apply
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% pin locations to Simscape model.
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% Copyright 2022-2023 The MathWorks, Inc
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% Copyright 2022-2024 The MathWorks, Inc
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Chassis.ToBoom = ExcvTable{1,4:5};
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Chassis.ToBoomCyl = ExcvTable{2,4:5};

‎Models/BOF_TOF/Pin_Locations/Extrusions/Extr_Data_Excv_Boom.m

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function [xy_boomArm, xy_boomSticklink] = Extr_Data_Excv_Boom(Boom)
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% Function to create extrusion for boom from pin locations
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% Copyright 2022-2023 The MathWorks, Inc
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% Copyright 2022-2024 The MathWorks, Inc
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A = [0 0];
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B = Boom.ToBoomCyl;

‎Models/BOF_TOF/Pin_Locations/Extrusions/Extr_Data_Excv_Bucket.m

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function [xy_bucketBracket, xy_bucketScoop] = Extr_Data_Excv_Bucket(Bucket)
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% Function to create extrusion for bucket from pin locations
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% Copyright 2022-2023 The MathWorks, Inc
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% Copyright 2022-2024 The MathWorks, Inc
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A = [0 0];
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B = Bucket.ToBucketLinkage;

‎Models/BOF_TOF/Pin_Locations/Extrusions/Extr_Data_Excv_Linkage.m

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function [xy_linkage_stickLink, xy_linkage_bucketLink] = Extr_Data_Excv_Linkage(Linkage)
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% Function to create extrusion for linkage from pin locations
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% Copyright 2022-2023 The MathWorks, Inc
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% Copyright 2022-2024 The MathWorks, Inc
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L = Linkage.LengthToStick;
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W = 0.2;

‎Models/BOF_TOF/Pin_Locations/Extrusions/Extr_Data_Excv_Stick.m

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function [xy_stickArm, xy_stickBucketlink] = Extr_Data_Excv_Stick(Stick)
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% Function to create extrusion for stick from pin locations
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% Copyright 2022-2023 The MathWorks, Inc
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% Copyright 2022-2024 The MathWorks, Inc
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A = Stick.ToBucket;
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B = [0 0];

‎Models/BOF_TOF/Pin_Locations/Extrusions/Extr_Data_LinkHoles.m

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% add 'plot' as the final argument
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% >> Extr_Data_LinkHoles(10,5,1,3,'plot')
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%
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% Copyright 2014-2023 The MathWorks, Inc.
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% Copyright 2014-2024 The MathWorks, Inc.
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% Default data to show diagram
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if (nargin == 0)

‎Models/BOF_TOF/Pin_Locations/Extrusions/Extr_Data_TriangleRounded_Holes.m

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% add 'plot' as the final argument
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% >> Extr_Data_TriangleRounded_Holes(10,5,1,2,'plot')
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%
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% Copyright 2014-2023 The MathWorks, Inc.
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% Copyright 2014-2024 The MathWorks, Inc.
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if (nargin == 0)

‎Models/Complete/Excavator_Complete.slx

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‎Models/Complete/Excavator_Complete_plot1operatorcmds.m

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function Excavator_Complete_plot1operatorcmds(varargin)
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% Code to plot operator commands for Excavator_Complete.slx
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% Copyright 2022-2023 The MathWorks, Inc.
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% Copyright 2022-2024 The MathWorks, Inc.
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if (nargin==0)
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‎Models/Complete/Excavator_Complete_plot2position.m

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% faster than the DC motor but has a limited range. The control system
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% uses them together to track the reference signal.
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% Copyright 2016-2023 The MathWorks, Inc.
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% Copyright 2016-2024 The MathWorks, Inc.
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% Generate new simulation results if they don't exist or if they need to be updated
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%if ~exist('simlog', 'var'))

‎Models/Complete/Excavator_Complete_plot3pressure.m

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%
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% The plot below shows the pressures in the actuators.
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% Copyright 2016-2024 The MathWorks, Inc.
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% Generate new simulation results if they don't exist or if they need to be updated
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%if ~exist('simlog', 'var'))

‎Models/Complete/Excavator_Complete_plot4loadsoil.m

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% reported in the cab swing motor reference frame (swing motor angle is
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% ignored).
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% Copyright 2022-2024 The MathWorks, Inc.
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% Generate new simulation results if they don't exist or if they need to be updated
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%if ~exist('simlog', 'var'))

‎Models/Complete/Excavator_Energy_Calc.m

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% gravity. This calculation will give misleading results if the system
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% does not return to its original height.
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% Copyright 2022-2024 The MathWorks, Inc
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% Time
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if(~exist('simOut'))

‎Models/Complete/Excavator_Motion.slx

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‎Models/Complete/Excavator_Motion_plot2position.m

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% faster than the DC motor but has a limited range. The control system
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% uses them together to track the reference signal.
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% Copyright 2016-2024 The MathWorks, Inc.
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% Generate new simulation results if they don't exist or if they need to be updated
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%if ~exist('simlog', 'var'))

‎Models/Complete/Excavator_Motion_plot3forces.m

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%
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% Generate new simulation results if they don't exist or if they need to be updated
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%if ~exist('simlog', 'var'))

‎Models/Complete/Excavator_Motion_plot4loadsoil.m

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% reported in the cab swing motor reference frame (swing motor angle is
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% Copyright 2022-2024 The MathWorks, Inc.
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%if ~exist('simlog', 'var'))

‎Models/Cosim/B3D_Bucket/Overview/html/Excavator_Motion_B3D.html

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<p>The simulation actuates the excavator arm to dig the bucket into the bed of particles which models the soil. The soil loads are plotted below.</p>
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<p>
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<img vspace="5" hspace="5" src="Excavator_Motion_B3D_results_soil_loads.png" alt=""> </p>
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<p class="footer">Copyright 2022-2024 The MathWorks, Inc.<br>
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<a href="https://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2023b</a>
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<br>
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</p>
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% <matlab:try,open_system('Excavator_Motion_B3D'),catch,warning('Model%20Excavator_Motion_B3D.slx%20not%20found.%20Please%20obtain%20the%20correct%20release%20from%20GitHub.'),end Open Excavator with
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% ThreeParticle DEM Soil Loads Model>
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%
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% Copyright 2022-2024 The MathWorks, Inc.
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%% Cosimulation Setup
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%

‎Models/Examples/Excavator_Motion_Part_Trajectory.m

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% Code to take simulation results and add motion profiles to variable
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% activeTestPos, for use in Excavator_Motion.slx
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% Copyright 2022-2024 The MathWorks, Inc
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% Extract bucket trajectory from motion test model
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bucket_posOri = simOut.logsout_Excavator_Motion.get('FramePosOri').Values.Bucket;

‎Models/Examples/Excavator_Motion_ur1.slx

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‎Models/Examples/bucket_position_trajectory.slx

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‎Models/Examples/bucket_position_trajectory_test.m

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% Code to extract bucket part trajectory from motion test and apply it in
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% test harness model that only contains bucket part.
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%% Open model to generate part trajectory
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open_system('Excavator_Motion')

‎Models/Examples/bucket_position_trajectory_ur1.slx

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‎Models/Examples/constraint_force_test.slx

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‎Models/Libraries/Arrowhead_Lib.slx

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‎Models/Libraries/Excavator_Parts_Lib.slx

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‎Models/Libraries/Excavator_Parts_Param_Lib.slx

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‎Models/Libraries/Linkage_Assembly_Lib.slx

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‎Models/Libraries/ValveCmdLib.slx

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‎Models/Overview/Excavator_Complete.m

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%
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% <matlab:open_system('Excavator_Complete') Open Hydromechanical Model with Controls>
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%
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open_system('Excavator_Complete')

‎Models/Overview/Excavator_Complete_Tests.m

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% pressures, and the energy expended are reported in plots for each
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% scenario.
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‎Models/Overview/Excavator_Motion.m

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%
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open_system('Excavator_Motion')

‎Models/Overview/Excavator_Motion_Tests.m

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% individually, and then a full dig cycle is completed. Positions and
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% forces/torques for each actuator are reported in plots for each scenario.
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%
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‎Models/Overview/Excavator_Param_BOF_TOF.m

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%
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% <matlab:Excavator_Design_app_run Open App for Calculating BOF, TOF, and Load Capacity>
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‎Models/Overview/Excavator_Param_Load_Chart.m

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‎Models/Overview/html/Excavator_Complete.html

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To make changes, update the MATLAB code and republish this document.
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-->
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<title>Excavator Design with Simscape&trade;: Hydromechanical Model with Controls</title>
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<meta name="generator" content="MATLAB 24.1">
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<link rel="schema.DC" href="http://purl.org/dc/elements/1.1/">
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<meta name="DC.date" content="2024-03-21">
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<meta name="DC.source" content="Excavator_Complete.m">
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html,body,div,span,applet,object,iframe,h1,h2,h3,h4,h5,h6,p,blockquote,pre,a,abbr,acronym,address,big,cite,code,del,dfn,em,font,img,ins,kbd,q,s,samp,small,strike,strong,tt,var,b,u,i,center,dl,dt,dd,ol,ul,li,fieldset,form,label,legend,table,caption,tbody,tfoot,thead,tr,th,td{margin:0;padding:0;border:0;outline:0;font-size:100%;vertical-align:baseline;background:transparent}body{line-height:1}ol,ul{list-style:none}blockquote,q{quotes:none}blockquote:before,blockquote:after,q:before,q:after{content:'';content:none}:focus{outine:0}ins{text-decoration:none}del{text-decoration:line-through}table{border-collapse:collapse;border-spacing:0}
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Excavator_Complete_plot4loadsoil
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</pre>
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<img vspace="5" hspace="5" src="Excavator_Complete_09.png" alt=""> <img vspace="5" hspace="5" src="Excavator_Complete_10.png" alt=""> <img vspace="5" hspace="5" src="Excavator_Complete_11.png" alt=""> <img vspace="5" hspace="5" src="Excavator_Complete_12.png" alt=""> <img vspace="5" hspace="5" src="Excavator_Complete_13.png" alt=""> <img vspace="5" hspace="5" src="Excavator_Complete_14.png" alt=""> <p class="footer">Copyright 2022-2023 The MathWorks, Inc.<br>
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<a href="https://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2023b</a>
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<img vspace="5" hspace="5" src="Excavator_Complete_09.png" alt=""> <img vspace="5" hspace="5" src="Excavator_Complete_10.png" alt=""> <img vspace="5" hspace="5" src="Excavator_Complete_11.png" alt=""> <img vspace="5" hspace="5" src="Excavator_Complete_12.png" alt=""> <img vspace="5" hspace="5" src="Excavator_Complete_13.png" alt=""> <img vspace="5" hspace="5" src="Excavator_Complete_14.png" alt=""> <p class="footer">Copyright 2022-2024 The MathWorks, Inc.<br>
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<a href="https://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2024a</a>
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% <matlab:open_system('Excavator_Complete') Open Hydromechanical Model with Controls>
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% Copyright 2022-2023 The MathWorks, Inc.
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