DSH plus a HWPA Program Gateway into Model-Based Design of Mechatronic Systems

Transcription

1 2011 European HyperWorks Technology Conference DSH plus a HWPA Program Gateway into Model-Based Design of Mechatronic Systems Dr. Heiko Baum FLUIDON GmbH COMPETENCE IN FLUID POWER SYSTEMS SIMULATION KOMPETENZ IN DER SIMULATION FLUIDTECHNISCHER SYSTEME Slide 1

2 Content 1 Model Based Design of Mechatronic Systems 2 Application field for DSH plus at a Model Based Design 3 DSH plus - a HWPA Program Gateway into Model-Based Design 4 Summary Slide 2

3 The Mechatronic Product Development Process according to VDI 2206 System design refinement of the specification start product version A product version B Feature verification System integration Domain specific design Model development and analysis The mechatronic product development process can be considered as a series of interlocked V-cycles The development of a virtual prototype (a simulation model) can be one of the innermost of these V-cycles Slide 3

4 The Mechatronic Product Development from a Product Point of View Discrete Description Rigid body Joining elements Coordinate systems Realizing natural and logical mappings between disciplinary product structure is a challenge to consider. Geometry Assembly structure Feature Materials Liquids Hydrolic elements Compressor Cylinder an approach for the integration of different product models is therefore also fundamental. Model-Based Design is one technique that supports this development procedure = Control elements Voltage sources Semiconductors Sensors Source: Dr. Alain Pfouga PROSTEP AG Circuits P, D, I Elements Logical elements Slide 4

5 Introduction to Model-Based Design Model-Based Design (MBD) is a mathematical and visual method of addressing problems associated with designing complex control, signal processing and communication systems. MDB is used in many motion control, industrial equipment, aerospace, and automotive applications, where it is applied in designing embedded software. MBD provides an efficient approach for establishing a common framework for communication throughout the design process while supporting the development cycle ("V" diagram). In Model-based design of control systems, development is manifested in these four steps: 1. modeling a plant, 2. analyzing and synthesizing a controller for the plant 3. simulating the plant and controller 4. integrating all these phases by deploying the controller. Source: Slide 5

6 Simulation Methods used for Model-Based Design System Specification Final Test Validation Function Specification Rapid Prototyping Function Test Verification Virtual Proto Type Program Specification Module Design Module Test Integration Test Program Coding Example of a V-cycle for Controller Development Modelin-the-Loop Reviews Softwarein-the-Loop Hardwarein-the-Loop Simulation Method 1D system simulation tools such as DSH plus are the mainstream technology to model and analyze multi-domain, intelligent systems and predict their multidisciplinary performance in a Model-Based Design development process. Slide 6

7 Content 1 Model Based Design of Mechatronic Systems 2 Application field for DSH plus at a Model Based Design 3 DSH plus - a HWPA Program Gateway into Model-Based Design 4 Summary Slide 7

8 What is DSH plus? DSH plus that is 1D-Simulation for Fluid-Power Mechantronic Systems DSH plus - comprehensive virtual engineering functionality in just one simulation tool Graphic based modeling concept for dynamic, nonlinear 1D-system simulation Standard model definitions base on manufactures data sheets information Equation based physical model descriptions for high quality simulations Intuitive component editor for open mathematical model description in C++ Slide 8

9 How flexible is DSH plus in the context of Mechatronic System Simulation? Program launch directly with open source code model description Co-simulation Air-Spring with MOBILE co-simulation with SIMPACK Launch of DSH plus -STC FLUIDON joints MATLAB partner program DSH plus -STC for SIEMENS WinAC Soft PLC ADAMS Plug-In for DSH plus -STC DSH plus - Interface with DSH program roots at RWTH Aachen Equation export to ACSL Equation export to ADAMS Equation export to Simulink Equation export to Opal-RT Current Target List: -Generic PC Export -Generic Linux Export -Simulink -Altair MotionSolve -ADAMS -DADS (PC, SGI) -SIMPACK -Virtual.Lab DSH plus -STC for KIVA combustion simulation FLUIDON joints With over 10 years experience in co-simulation and mechatronic design FLUIDON is one of the pioneers in the industrial usage of this technology Slide 9

10 DSH plus Applications for Mil-, SiL- and HiL-Simulation DSHplus plant model Import DSHplus plant model Co-Simulation DSHplus plant model Stand-alone simulation in DSHplus int Regleralgorithmus (...) {... } Manually programmed controller source code Import S-Function Export with DSHplus RTW Target µc - simulator Code export DSH plus HIL-Box Link via passive I/O-interface electronics Customized interface Co-Simulation Model-in-the-loop (MIL) Software-in-the-Loop (SiL) covered by DSH plus -STC NON-RT Hardware-in-the-Loop (HiL) available interface Intended or possible interface Export with RTW µ-controller based real-time system Slide 10

11 DSH plus -RT Real Time Fluid Power Models DSHplus-RT export Available solution DSHplus plant model DSHplus-RT Export Export with RTW and/or Target-Link Special RT-Hardware DSHplus plant model Available solution DSHplus-RT export PC based RT- Linux system DSH plus HIL-Box Link via passive I/O-interface electronics µ-controller hardware RT Hardware-in-the-Loop (HiL) available interface Intended or possible interface Slide 11

12 Content 1 Model Based Design of Mechatronic Systems 2 Application field for DSH plus at a Model Based Design 3 DSH plus - a HWPA Program Gateway into Model-Based Design 4 Summary Slide 12

13 DSH plus a HWPA Program Gateway into Model-Based Design CAD Geometries for Models project data exchange EPLAN Project Documentation PLM supported design level RADIOSS Finite Element flexibility of components data for stress analysis MotionSolve Multi-Body CAE supported design level co-simulation of mechatronic systems DSH plus 1D System Simulation RT export or PLCI interface HyperGraph Result Analysis HyperStudy Parameter Optimization PLC / HMI Controls validation level Measurements Validation Slide 13

14 DSH plus - HWPA Integration from a Product Point of View MotionSolve & DSH plus -STC DSH plus 1D System Model PLC / HMI & DSH plus -PLCI subsystemlevel Computer / PLC / HMI AR unit (arm segment) Sensors and actuators Mechanical components and flexible bodies D K P W G joint i+1 AS 2 attachment i UM 2 cantilever i hydraulic actuator (cylinder) i G O 8 joint i Z 2 Picture source: Hans-Dieter Kochs Faculty of Engineering - Institute for Information Technology University of Duisburg-Essen / Germany Slide 14

15 DSH plus -PLCI Programmable Logic Controller Interface Server Virtual plant model in DSH plus Soft PLC Visualization Hardware interface E/A-Field bus node Control cabinet Slide 15

16 Advancements in DSH plus - HyperWorks Integration MotionView Integration Macro support for DSH plus model import into MotionView DSH plus labels are now used within MotionView The new interface handles 1 to 99 in- and out-put values Collaboration with HyperGraph DSH plus stores result data in HyperWorks ABF-file format Cooperation with HyperStudy In a background simulation mode DSH plus models can be controlled by HyperStudy Possible applications are parameter optimization or a sensitivity analysis Slide 16

17 DSH plus and HyperStudy: Simple example of a hydraulic cylinder drive Task: Controller parameter optimization of a hydraulic cylinder drive In order to reach the desired cylinder position as quickly as possible, the controller parameters KP, KI, and KD have to be optimized. Slide 17

18 DSH plus and HyperStudy: Study setup Create design variables Of interest for the DSH plus HyperStudy demo project are the controller parameters KP, KI, and KD. The template is created from the standard DSH plus parameter file. The parameter file includes all design parameters of the model, the initial values of state variables and process variables, and the solver parameters. Slide 18

19 DSH plus and HyperStudy: Post processing with HyperStudy Development of the quality value during the optimization study. Development of the controller parameters during the optimization study. Slide 19

20 Result evaluation in DSH plus Simple example of a hydraulic cylinder drive. Dotted lines are initial results. Thick lines are results after optimization. Slide 20

21 Content 1 Model Based Design of Mechatronic Systems 2 Application field for DSH plus at a Model Based Design 3 DSH plus - a HWPA Program Gateway into Model-Based Design 4 Summary Slide 21

22 Summary Model-Based Design is a technique that supports a CAx-driven mechatronic development procedure 1D system simulation tools, such as DSH plus, are the mainstream technology to generate plant models, that are required for the Model-Based Design approach For other HyperWorks products the various DSH plus interfaces provide proven gateways into the Model-Based Design of mechatronic products Get more insight into the DSH plus capabilities at FLUIDON's EHTC booth Slide 22