Fluid and Mechatronic Systems at Linköping University Petter Krus

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1 Fluid and Mechatronic Systems at Linköping University Petter Krus

2 Flumes Research Areas Aircraft Systems Aircraft design Onboard systems Subscale flight testing Fluid Power Hydraulic system and component design Mobile systems Measurement and control systems Noise and vibrations Mecahtronics Mobile robotics Sensor systems Vehicle dynamics and control Modelling and simulation Systems Engineering Mechatronics Design analysis and optimisation Sid 2 Linköpings universitet

3 Flumes Research philosophy Objectives & Requirements Verification Design and modelling Verification Construction Physical Prototype Mathematical Model Validation Sid 3 Linköpings universitet

4 Technologies Systems that are characterized by a close coupling between: Mechanical system Power transmission/actuation system Sensors Control System This requires, Multidisciplinary co-design, i.e. Mechanical design and control system co-design where modelling and simulation are central 4

5 Major Partner Companies with Ongoing Projects Atlas Copco ( Mining equipment, rock drills) Parker (Fluid power) Saab AB (Aircraft) Scania AB (Trucks) Volvo CE (Construction Machinery) 5 48th AIAA Aerospace Sciences Meeting

6 Some Industrial Partners and Applications Aircaft Saab AB Construction Machines Volvo CE Rock drills Atlas Copco Sid 6 Linköpings universitet

7 Energy Efficient Mobile Hydraulic Actuation Systems Project sponsored by Parker Hannifin- Hannifin, USA Mikael Axin Björn Eriksson Original Load Sensing system (LS) with closed loop controlled pump Flow sharing system with open loop controlled pump 7

8 Karl Pettersson Development of Energy-efficient Hydromechanical Transmissions Demands on wheel loader transmissions: Wide range stepless variable speed ratio Kept traction force during shifting High efficiency in all operating points Decoupling of vehicle speed and engine speed 8

9 Hydromechanical Transmissions Karl Pettersson Load Implemented in Matlab/Simulink 9

10 Hardware-in-the-loop Karl Pettersson 10

11 Autonom Styrning av Tunga Fordon (FFI,Scania) Aktiv styrning Genering av nytt koncept för servostyrning Minskad bränsleförbrukning HWIL Validera i rigg och lastbil Lars Andersson Peter Nordin Sid 11 Linköpings universitet

12 Conceptual Design of a Closed-Centre Power-Steering System using Hardware-in-the-Loop Electrohydraulic closedcenter valves for enabling active steering and reduced energy consumption A generic test rig A physical steering gear is in the loop The conceptual design is in the software Fast servo valves simulates the behaviour of each conceptual design Alesandro Dell Amico Sid 12 Linköpings universitet

13 System simulation Real-time Simulation (RTS), and Faster than Real Time Simulation (FRTS) Technologies Distributed modeling Parallelization of simulation models for multi-core processors Hardware in the loop simulation Model fidelity and management Using bilateral delay line (transmission line modelling, TLM) for model partitioning Sid 13 Linköpings universitet

14 1990 Real Time Parallel Simulation of Fluid Power System Sid 14 Linköpings universitet

15 HOPSAN-NG (Next Generation) Hopsan Development started in the late 70-ties Making it the longest continuously running simulation software project? Bidirectional delay-lines Modelica support is under development Genuine team work Freeware that can be downloaded from 15

16 Example: Aircraft System The aircraft attitudes during an S-maneuver. Angular position and reference position of the rudder actuator 16 48th AIAA Aerospace Sciences Meeting

17 Example: Whole Mission Simulation 17

18 Tomas Melin Tornado a Vortex Lattice Method implemented in Matlab Tornado is an aerodynamic modelling software which allows for almost instantanious computation of the aerodynamic properties of an aircraft 18

19 Conceptual Aircraft Design (Saab) SIZING AND AERODYNAMICS Matlab Tango - Aircraft sizing Tornado- Aerodynamics Patrick Berry Kristian Amadori Christopher Jouannet Raghu Chaitanya Manjula Ingo Staack Modelica (Dymola) CATIA RAPID CPACS Hopsan 19

20 Detail: Catia-XML-database integration CATIA model (product) topology different from the XML data setup: complex data translation between RAPID & database necessary: usage of XML Translation Style Sheets (XSLT) using Xpath programming language Tornado XML Schema Matlab XML Schema Catia Configurator DIBA TBD XSLT Parser XSLT Parser RAPID (CATIA) Tango Central XML Database CAT Part CAT Product Ingo Staack: Conceptual Design space; 28th ICAS Conference

21 RAPID: CATIA Tool Robust Aircraft Parametric Interactive Design uniform parametric data setup KBE implementation using: Power copies Knowledge patterns Disadvantage: flat model hierarchy Different work topics: layout/geometry structure engine integration & air intakes(!) cockpit & cabin design control surfaces 21 Ingo Staack: Conceptual Design space; 28th ICAS Conference

22 Vertical Integration System of system When the system definition is made, it should also be executable System Subsystem Component Sid 22 Linköpings universitet

23 System of systems simulation Simulation for operational analysis and subsystem verification 23

24 Design Framework Spreadsheet model David Lundström Patrick Berry Kristian Amadori Christopher Jouannet Database Obj. function Control variables Optimizer Weight wetted area etc. Geometry parameters c D, c m, c L Geometry mesh Parametric CAD model Aerodynamic model Sid 24 2/17/

25 Closing the Loop - MAV Prototyping FDM type 3D printer Test: 270mm MAV Weight: 90g Benefits Allows easy validation No craftsmanship is needed Geometric complexity does not ad cost Good accuracy and repeatability P P P m P out b d η b η d η m η p η tot =η b *η d *η m *η p Sid 25 2/17/