Modeling Guidelines and Tools Comparison for Mechatronics System Design in Automotive Applications - Application to a Motorized Hatchback -

Transcription

1 EMM 2009, 7 th European Mechatronics Meeting: Mechatronics for Vehicles and Production Modeling Guidelines and Tools Comparison for Mechatronics System Design in Automotive Applications - Application to a Motorized Hatchback - G. Remy 1, K. Ejjabraoui 2, C. Larouci 2, F. Mhenni 3, R. Sehab 2, P. Lefranc 4, B. Barbedette 2, S.A. Raka 5, C. Combastel 5, S. Cannou 6, F. Cardon 2, P. Cuvelier 2, C. Marchand 1, B. Iizuka 7, P. Bastard 7, D. Barbier 8 1 LGEP Laboratoire de Génie Electrique de Paris / SPEE-Labs, CNRS UMR 8507, Supelec, Universités Paris VI et Paris XI. Plateau de Moulon Gif sur Yvette cedex. 2 ESTACA, Ecole Supérieure des Techniques Aéronautiques et de Construction Automobile, 34 rue Victor Hugo, Levallois-Perret 3 LISMMA SUPMECA, 3 Rue Fernand Hainaut, St-Ouen cedex 4 SUPÉLEC, Département Energie, 3 rue Joliot Curie, Plateau du Moulon, Gif-sur-Yvette 5 ECS - ENSEA, 6 avenue du Ponceau, Cergy-Pontoise Cedex 6 DASSAULT DATA Services, 10 rue Marcel Dassault CS 50502, Vélizy-Villacoublay 7 RENAULT, Direction de l'electronique Avancée, Technocentre, 1 av. du Golf, Guyancourt 8 VALEO Management Services, 43 rue Bayen, Paris Cedex 1

2 Summary I Context of O2M / WP2-SP3 II The studied Mechatronic System III An Evaluation of Existing Modeling Softwares IV Modeling Guidelines using 5 different softwares V Results Comparison VI Conclusion 2

3 Context: MOVEO / O2M / WP2-SP3 1/2 Mov eo is a French Automotive Cluster. SYSTEM@TIC is the French competitiveness cluster of PARIS- REGION The O2M project is integrated into the French Clusters Mov eo and System@tic and focuses on : Mechatronics Modeling and Design Tools for automotive applications. 3

4 Context: MOVEO / O2M / WP2-SP3 2/2 O2M includes different Work Packages (WP) and Sub-Projects (SP). The WP2-SP3 PREDIM is dedicated to the design of high level mechatronics systems (multi-domain approach). The SP3-PREDIM s main objectives are : - to compare actual multi-domain softwares - to develop softwares for the early design of mechatronics systems. The team consists of about 30 persons: - among industrials: Renault, Valeo, Dassault Systèmes - and laboratories: Estaca, Supméca (LISSMA), Sherpa LGEP/Supelec (SPEElabs), ENSEA (ECS). 4

5 Mechatronics Systems in Automotive Applications A Motorized Hatchback 5

6 Studied System: Motorized Hatchback Innovative functionality 6

7 Components and Modeling Domains Electrical Part: 2 DC Motors 2 4QVoltage Chopper 2 LC Filters Mechanical Part: 2 Cylinders with gear reducers and ball-bearing screws Mechanical transmission (ball joint, spring, pivot joint ) Control Part: 2 PI current controller 1 PID angular position controller 1 angular position sensor 7

8 What is the best software for early design? Multi-domain approach? Collaborative Design Issues with Traditional Development 8

9 One solution is the Model-based design 9

10 Softwares for multi-domain modeling 0D/1D Tools: Matlab/Simulink Dymola (langage MODELICA) Simplorer (langage VHDL-AMS) Excel AMESim Maple Pro-Design Saber PsPice 20-sim Cadence 2D/3D Tools Flux Comsol Maxwell Flotherm Adams Ideas ANSYS SolidWorks Nastran LMS Virtual.Lab Catia 10

11 Evaluation Criteria Data Management: Development & Marketing (Maintenance, Update) Copyright Management (Data Accessibility, Concurrent Engineering) Security of Model Trade (Intellectual Property) Management of multi-sites Solving Methods: DAE Solver, ODE, PDE, Algorithm, Equations Types, Continuous and Discrete Coupling, Causality Principle of Model Implementation (Procedural, Object-Oriented) External Links: Accessibility of Model Library (Model Shariblity, Co-simulation, Rapid Prototyping, HIL) Multi-Physics Coupling: Available Domains, Model Relevance, Available Coupling, Model Library Tool use: IHM, Simplicity of use, Transparency, Training need 11

12 An Example of Evaluation: Simplorer 1/2 12

13 An Example of Evaluation: Simplorer 2/2 13

14 Data Management 4,0 3,5 0D, 1D Tools 2D, 3D Tools 3,0 2,5 2,0 1,5 1,0 0,5 0,0 14

15 Solving performances (ODE) 6,0 5,0 0D, 1D Tools 2D, 3D Tools 4,0 3,0 2,0 1,0 0,0 15

16 Domains of Physics and Model Relevance, Possible Coupling, Model Library 4,0 3,5 3,0 Outil 0D, 1D Outil 2D, 3D 2,5 2,0 1,5 1,0 0,5 0,0 16

17 Results Overview Simplicity of use, Transparency, Training need Data Management 5,0 4,5 4,0 3,5 3,0 2,5 2,0 1,5 1,0 0,5 0,0 Solving Techniques 20SIM Saber Simplorer AMESim Matlab_Simulink Dymola Excel Maple Pro_designe CADENCE PsPice Comsol Flux Maxwell Flotherm CATIA Adams Domains of Physics and Model Relevance, Possible Coupling, Model Library External Links LMS ANSYS SolidWorks IDEAS NASTRAN 17

18 Weighted Global Evaluation of each software 4,0 3,5 3,0 2,5 Matlab-Simulink, Dymola, Simplorer, AMESim 0D, 1D Tools 2D, 3D Tools 2,0 1,5 1,0 0,5 0,0 18

19 CAUSALITY PRINCIPLE In physics, the causality principle defines that Causes are prior to effects they produce. During the modeling process of mechatronic systems, causality can be managed using different methods. The Modelling-Simulating softwares handle causality differently. There are two types of modeling regarding the causality: The Causal Modeling T f 1 + Js Ω The Acausal (or Physical) Modeling: 19

20 Causal / Acausal VS Procedural / Declarative Causal Modeling use a Procedural Language: The model simulation will follow a predefined procedure and will fulfill the causality path of the model. Acausal Modeling use Declarative Language: All the model parameters are defined on the same way. The language specify equality and not affectation. 20

21 Matlab-Simulink-SimPowerSystems (R2008a)

22 The infinite search of the Accuracy 4Q DC Chopper Models Level A Level B Level C Block Choice

23 AMESim Acausal Modeling using dedicated library 23

24 LMS Imagine.Lab AMESim v8.0a Solutions for Automotive and Ground Transportation dedicated for all major vehicle subsystems: internal combustion engines, transmissions, vehicle thermal management systems, vehicle systems dynamics as well as fluid systems related to engines and electrical systems. Vehicle engineering teams can simulate system performance during the early design stage to optimally balance multiple functional requirements and brand attributes. 24

25 AMEsim extra Librairies 25

26 Ansoft Simplorer v7.05 Build28 Use of IEEE and Standard Library 26

27 Language VHDL-AMS 27

28 Matlab-Simulink R2008b Simscape v3.0 28

29 Matlab-Simulink R2008b Simscape v3.0 ca i sse 4 Conn1 1 frott Conn4 2 reducteur S O rendement sur couple entrée ref sortie A P vab PS S entrée sortie rendement sur force ref tige verin1 CS2 CS3 CS1 B Universal F PS S f orce_v ab <force_vab corps verin R C Rot Sensor MRR1 C W R A C T PS S Torque Sensor PS S wm R Cm <Cm> <wm> Rot Sensor1 R C W A <theta_r> theta_r R C F capteur force1 capteur force C F R R C PS S R C f orce_ressort R C R C orce_resso F B P CS2 B F CS1 CS3 pivot glissant xv p v Fc <xv> Joint Sensor f orce_v erin force_verin Disassembled Spherical B F hayon 3 29

30 Dymola 30

31 31

32 Various Library 32

33 Dymola Multi-Engineering Systems Behavior modeling and simulation based on MODELICA Can handle mixture of models: mechanical, electrical, hydraulic, chemical, thermodynamic, control, etc. Availability of ready-to-use model libraries Equation based open architecture Object-oriented Modeling Uses ModelicaLanguage for Reuse Maintained and advanced by international design group Utilizes automatic formula manipulation for efficiency 33

34 Somes Comparisons Advantages Multi-tasking (Simulink) Errors Identification Use of Electrical and mechanical Library Causality management Check of Units Homogeneity (Simscape, Dymola) 3D View, easy 3D referencing (Dymola, Simscape) Library with multi-level models (Simple or Advanced Models) (AMESim) Discrete Models (VHDL-AMS) User-friendly IHM (Dymola, AMESim) Drawbacks 34 Algebric loops Complex Parametrisation of some models Components may slow down simulation Complex modeling of backlash, bumper, friction Hard modeling of close mechanical chain No model of flexible body Bad memory management Advanced user only

35 Some of the results: The hatchback opening The angular position (deg) The DC motor current (A) Time (s) The DC motor speed (tr/min) 0 Matlab-Simulink Simpower System master Matlab-Simulink Simpower System slave Simscape master Time (s) Simscape slave AMESim master AMESim slave Matlab-Simulink master Matlab-Simulink slave Dymola master Dymola slave The cylinder force (N)

36 Conclusion and perspective Early Design of Mechatronics System need multi-domain software May be in the future, there will be standard like XML for interfacing software Mechatronics design need mechanical, electrical and control modeling Future will see Thermal, Integration issue and CEM include in early design Simulation are based on the solving of Causal or Acausal Modeling Optimization and Control of massive MIMO Systems will be the futures issues Thank you for your attention 36