MATLAB Toolbox: State Observers for Multibody Dynamic Systems

Toolbox features

• Entirely based on MATLAB classes.
• A generic framework for kinematics and dynamics simulation of rigid multibody models of mechanisms.
  • mbeKinematicsSolver: Solve kinematic problems (position, velocity, acceleration).
  • mbeDynFormulationBase: Abstract base of all dynamics formulations.
• Mechanical systems can be easily defined by users by inheriting from the abstract base mbeMechModelBase. Predefined mechanisms:
  • mbeMechModelFourBars1: 4 bars linkage
  • mbeMechModelFiveBars1: 5 bars linkage
• Any number of sensors can be dynamically attached to any mechanism. See base abstract class mbeSensorBase
• Several implemented state observers (base class mbeEstimatorBase).

Licensing

MBDE-MATLAB is licensed by University of A Coruña and University of Almería under GNU GPL v3.

Citation

This toolbox was introduced in:

• E. Sanjurjo, J.L. Blanco, J.L. Torres, M.A. Naya, "Testing the efficiency and accuracy of multibody-based state observers", ECCOMAS Thematic Conference on Multibody Dynamics, 2015. [PDF]
• E. Sanjurjo, M.Á. Naya, J.L. Blanco-Claraco, J.L. Torres-Moreno, A. Giménez-Fernández. Accuracy and efficiency comparison of various nonlinear Kalman filters applied to multibody models. Nonlinear Dyn (2017). doi:10.1007/s11071-017-3354-z [LINK]
• E. Sanjurjo, D. Dopico, A. Luaces, M.Á. Naya. State and force observers based on multibody models and the indirect Kalman filter. Mechanical Systems and Signal Processing. doi:10.1016/j.ymssp.2017.12.041 [LINK]

Installation

Just add the directory toolbox_mbe to your MATLAB PATH, e.g. from the menu "Set path" in the "Home" ribbon.

Demos

• demo_dynamic_simulation.m: Runs a dynamic simulation for a given mechanism.
• demo_run_observer_offline.m: Runs an offline estimation of a given mechanism, with a given set of sensors and using the especific estimation method.

Classes diagram

Classes diagram in PNG format. Download the PDF version here