Any way to speed up simulation of ground contact in Simulink?

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I have a model of a fairly complex robot in simulink. This complexity means the time taken to simulate the model is already quite high; when I add ground contact to the model it becomes unreasonably so (at the moment I'm looking at roughly half an hour of real time for every second of simulation time, and that's with only intermittent contact, summing to about 0.2s ground contact per second of simulation).
Ground contact is modelled by a simple spring-damper which inputs force to a body actuation block at the point of contact. I have only 3 points of contact (which is about the minimum I can get away with); and it is rare that more than two are active at once. Tolerances are at 1e-4 and 1e-5 for relative and absolute, respectively - I realise these are very small, but increasing the relative or absolute tolerance tends to mean the robot 'falls through' the floor, resulting in strange and unpredictable behaviour.
I have been through this checklist http://www.mathworks.com/matlabcentral/answers/94052-how-can-i-speed-up-simulation-of-my-simulink-model and done my best to streamline the code execution. I'm resigned to the fact that I might just be at the mercy of the processing speed of my computer - nevertheless, I thought I'd ask in case anyone had come up with a work-around for a similar situation!

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