This file contains a model of a backhoe arm built using Simscape. The hydraulic actuation system, including pump, valves, and hydraulic cylinders, actuates the arm and bucket. The three-dimensional mechanical system is modeled, including the arm joints and bucket linkage. Examples in this submission show how to model custom hydraulic valves, tune controller and physical system parameters, and generate C code from the entire model.

Backhoe
.......\Actuation
.......\.........\SimHydraulics_Actuation_System.slx
.......\.........\SimHydraulics_Actuation_System_BH.slx
.......\.........\Tilt_Actuator_Lib.slx
.......\Backhoe_Arm.slx
.......\Custom_Orifice
.......\..............\+Hydraulic
.......\..............\..........\CustomOrifice_coeff.jpg
.......\..............\..........\CustomOrifice_coeff.ssc
.......\..............\..........\CustomOrifice_full.jpg
.......\..............\..........\CustomOrifice_full.ssc
.......\..............\..........\TwoPort.ssc
.......\..............\Actuation_System_Test.slx
.......\..............\Orifice_Test.slx
.......\Custom_Valve
.......\............\Backhoe_TiltCyl_Valve_Variants.slx
.......\............\Custom_Valve_Choices_Lib.slx
.......\............\Custom_Valve_Orifices_Lib.slx
.......\............\Custom_Valve_Plot_Cyl_Press.m
.......\............\Custom_Valve_Plot_Piston_Position.m
.......\............\Custom_Valve_Plot_Spool_Force.m
.......\............\Custom_Valve_Plot_Spool_Position.m
.......\............\Custom_Valve_Test_Forces.m
.......\............\Custom_Valve_Test_Valves.m
.......\Images
.......\......\Backhoe_Actuator_IMAGE.png
.......\......\Backhoe_Arms_IMAGE.png
.......\......\Backhoe_Arm_Actuator_IMAGE.jpg
.......\......\Backhoe_Arm_Base_IMAGE.jpg
.......\......\Backhoe_Arm_Bucket_Asy_IMAGE.jpg
.......\......\Backhoe_Arm_IMAGE.jpg
.......\......\Backhoe_Arm_IMAGE.png
.......\......\Backhoe_Arm_Lower_IMAGE.jpg
.......\......\Backhoe_Arm_Upper_IMAGE.jpg
.......\......\Backhoe_Attachmentarms_IMAGE.png
.......\......\Backhoe_Attach_IMAGE.png
.......\......\Backhoe_Bracket1_IMAGE.png
.......\......\Backhoe_Bracket2_IMAGE.png
.......\......\Backhoe_Bracketassembly_IMAGE.png
.......\......\Backhoe_Bracket_IMAGE.png
.......\......\Backhoe_Bucketback_IMAGE.png
.......\......\Backhoe_Bucketcase_IMAGE.png
.......\......\Backhoe_Bucketpins_IMAGE.png
.......\......\Backhoe_Bucketplate_IMAGE.png
.......\......\Backhoe_Bucketside_IMAGE.png
.......\......\Backhoe_Buckettop_IMAGE.png
.......\......\Backhoe_Bucket_IMAGE.png
.......\......\Backhoe_Crankarm_IMAGE.png
.......\......\Backhoe_Crankassembly_IMAGE.png
.......\......\Backhoe_Crankpin_IMAGE.png
.......\......\Backhoe_Full_IMAGE.png
.......\......\Backhoe_Lowerarm_IMAGE.png
.......\......\Backhoe_Lowerassembly_Actuator_IMAGE.png
.......\......\Backhoe_Lowerassembly_IMAGE.png
.......\......\Backhoe_Lowervehicle_IMAGE.png
.......\......\Backhoe_Mountingassembly_IMAGE.png
.......\......\Backhoe_Mountingbaseassembly_IMAGE.png
.......\......\Backhoe_Mountingbase_IMAGE.png
.......\......\Backhoe_Mountinghub_IMAGE.png
.......\......\Backhoe_Mountingplates_IMAGE.png
.......\......\Backhoe_PIDmask_IMAGE.png
.......\......\Backhoe_Supportarms_IMAGE.png
.......\......\Backhoe_Supportarm_IMAGE.png
.......\......\Backhoe_Supportassembly_IMAGE.png
.......\......\Backhoe_Teeth_IMAGE.png
.......\......\Backhoe_Tilt_Actuator_IMAGE.jpg
.......\......\Backhoe_Upperarm_IMAGE.png
.......\......\Backhoe_Upperassembly_Actuator_IMAGE.png
.......\......\Backhoe_Upperassembly_IMAGE.png
.......\......\Backhoe_Upperbar_IMAGE.png
.......\......\Backhoe_Uppervehicle_IMAGE.png
.......\......\Backhoe_Vehicle_IMAGE.png
.......\......\Backhoe_Wheel_IMAGE.png
.......\......\Custom_Valve_Ideal_Proportional.jpg
.......\......\Custom_Valve_Orifices_No_Force.jpg
.......\......\Custom_Valve_Orifices_With_Force.jpg
.......\......\Custom_Valve_Proportional_Spool.jpg
.......\......\Custom_Valve_Servovalve_Feedback.jpg
.......\......\Custom_Valve_Servovalve_Spring_Centered.jpg
.......\......\Diagrams
.......\......\........\Backhoe_Actuator.html
.......\......\........\Backhoe_Actuator_DIAGRAM.png
.......\......\........\Backhoe_Bracket.html
.......\......\........\Backhoe_Bracket2.html
.......\......\........\Backhoe_Bracket2_DIAGRAM.png
.......\......\........\Backhoe_Bracketassembly.html
.......\......\........\Backhoe_Bracketassembly_DIAGRAM.png
.......\......\........\Backhoe_Bracket_DIAGRAM.png
.......\......\........\Backhoe_Bucket.html
.......\......\........\Backhoe_Bucket_DIAGRAM.png

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