From versatile analysis methods to interactive simulation with a motion platform based on SimulationX and FMI

Transcription

1 From versatile analysis methods to interactive simulation with a motion platform based on SimulationX and FMI SimulationX Tutorial, 8th Modelica Conference Dr. Ines Gubsch, IVMA, TUD Christian Schubert, IVMA, TUD Christian Kehrer, ITI GmbH

2 Topic 2 1. Overview 2. Modeling of a simple example 3. Versatile analysis methods 4. SimulationX Libraries 5. Code Export 6. Wheel Loader model for Code Export via FMI 7. Summary 8 th International Modelica Conference, Dresden 2011

3 Topic 3 1. Overview a) Graphical User Interface b) File handling c) Post Processing 2. Modeling of a simple example 3. Versatile anaylsis methods 4. SimulationX Libraries 5. Code Export 6. Wheel Loader model for Code Export via FMI 7. Summary 8 th International Modelica Conference, Dresden 2011

4 Overview 4 Graphical User Interface Fully customizable, dynamical GUI Four different model views simultaneously: Diagram View Text View 3D View Documentation View Model explorer for easy access to all components, types, parameters and result variables Library Bar Diagram View Text View Result Window Model Explorer Output Task Pane Result Manager

5 Overview 5 File Handling Modelica Search Path Modelica Options Opening (Diagram View, 3D View) Add SimulationX calculation environment Recording of results Add base class Modelica.Icons Different file formats: Modelica file (*.mo) SimulationX file (*.ism) SimulationX project (*.isx)

6 Overview 6 Post Processing Result windows Plotting options y(t) and y(x) incl. measuring, freezing and drag & drop Multiple file formats (*.txt, *.bin, *.rfs, *.csv, *.dat, *.xml, *.bmp, *.jpeg, *.gif, *.tiff, *.png, *.emf) FFT analysis Momentary displays Linkable to any result variable 3D Animation Oservation while running simulation Video export (*.avi, *.wmv)

7 Topic 8 1. Overview 2. Modeling of a simple example a) Modeling b) Parameterization c) Creation of user defined types 3. Versatile analysis methods 4. SimulationX Libraries 5. Code Export 6. Wheel Loader model for Code Export via FMI 7. Summary 8 th International Modelica Conference, Dresden 2011

8 Modeling of a simple example 9 Modeling Graphical placement, modification and connection of elements Simultaneous textual editing with ad hoc effect in every other view Connections with modifiable properties Switchable autorouting Replace, add or delete nodes by mouseclick TypeDesigner for creation of compounds and new types 8 th International Modelica Conference, Dresden 2011

9 Modeling of a simple example 10 Parameterization Parameterization using units Reference on every variable within the whole model Formula and math. expressions incl. logical conditions and alternatives Syntax check after every parameter input Parameter sets available as Windows-metadata 8 th International Modelica Conference, Dresden 2011

10 Modeling of a simple example 12 TypeDesigner Create user-defined models: Creation of completely new types Extension: Modification of any existing models Compounds: group several elements together to one new model Edit existing models: Add certain features to the built-in models 8 th International Modelica Conference, Dresden 2011

11 Modeling of a simple example 13 TypeDesigner: creation of compounds Local or global storage (Inner) Connectors: compound s interfaces to the outside world (Inner) Components: definition of parameters and result variables Local Types: type in type constructs Toggle components in Activity Groups Behaviour described with algorithms and equations Editable Modelica Code HTML Documentation accessible via context help Different Security levels 8 th International Modelica Conference, Dresden 2011

12 Topic Overview 2. Modeling of a simple example 3. Versatile analysis methods a) Transient simulation in time domain b) Linear System Analysis c) Periodic Steady-State Simulation 4. SimulationX Libraries 5. Code Export 6. Wheel Loader model for Code Export via FMI 7. Summary

13 Versatile analysis methods 16 Transient simulation Activation of protocol attributes Global or selective Settings of the property dialog General Reset points Tracing Solvers Global Symbolic Analysis Determination of consistent initial values Creation and customizing of result windows 8 th International Modelica Conference, Dresden 2011

14 Versatile analysis methods 18 Linear System Analysis Linearization of model equations at current operating point Performable at any time instant Natural frequencies and mode shapes Computation from Jacobian matrices All state values are taken into account (regardless of the physical domain) Input-Ouput-Analysis Analyzing the transmission behavior Interpretation of the model as a system with inputs and outputs

15 Versatile analysis methods 19 Calculation of Eigenvalues and Eigenvectors Computation of natural frequencies and damping time constants of the damped oscillation Additional: natural frequencies of the undamped system Filter options stored in model Display of: Complex eigenvalues Damped and undamped natural frequencies Damping factor D Time constants 8 th International Modelica Conference, Dresden 2011

16 Versatile analysis methods 20 Deviation and Distribution of Energy Eigenvector as a value and in the form of a bar chart Distribution of energy of a natural mode influence of certain elements on the respective natural frequency Kinetic energy Potential energy Power loss Extension of MSL elements for observation of energy distribution and deviation within LSA necessary 8 th International Modelica Conference, Dresden 2011

17 Versatile analysis methods 21 Campbell Diagram Identification of critical speeds of rotational systems Resonance points visible as crossing points of natural frequencies with orders Measurement by mouse click Adjustable speed range 8 th International Modelica Conference, Dresden 2011

18 Versatile analysis methods 22 Vibration Mode Animation 3D allocation of natural frequencies and corresponding components Use of momentary displays and adjusted elements from Mechanics.MultiBody Controllable while running animation: Amplification factor Animation frequency

19 Versatile analysis methods 25 Frequency Response Function Complex frequency response of a linear system Plot of frequency response function from selected input to output Several options for the description of the excitation for every input Result representation: Magnitude and phase Real- and imaginary part Nyquist-Plot

20 Versatile analysis methods 26 Poles and Zeros Graphical representation and listing of exact values of Smith-poles and zeros in the complex frequency plane Evaluation of stability properties For systems with multiple inputs and outputs Ready for Copy-Paste Poles Zeros

21 Versatile analysis methods 27 Export of system matrices ODE state-space representation: x y = = Ax + Bu Cx + Du DAE descriptor form: Ex = Ax + Bu y = Cx + Du x state variables u input variables y output variables MATLAB-source code or Modelica format

22 Versatile analysis methods 29 Periodic Steady-State Simulation Periodic solutions of nonlinear systems in dependence of a reference quantity Harmonic Balance as parametric analysis Result quantities over reference quantity: Amplitude and phase Fluctuation coefficient Real- and imaginary part Excitations Results over one period for a user defined value of the reference quantity: Unbiased deflection Deflection with mean value Fluctuation

23 Topic Overview 2. Modeling of a simple Example 3. Different analysis methods 4. SimulationX Libraries 5. Code Export 6. Wheel Loader model for Code Export via FMI 7. Summary 8 th International Modelica Conference, Dresden 2011

24 SimulationX Libraries 33 SimulationX Libraries extending Modelica Standard Connections are model objects carrying names, parameters, initial values and result variables Variable values or expressions to be assigned to parameters proprietary ports Graphical interactive editing of curves including multiple options for interpolation and approximation

25 SimulationX Libraries 34 Combine elements from MSL & SimulationX Libraries Interface definition as Modelica class model or as special Modelica transformer block Containing each of the appropriate port types Connecting the physical variables by equations Sum of both flow quantities is zero, while potential quantities have to be equivalent

26 Topic Overview 2. Modeling of a simple Example 3. Different analysis methods 4. SimulationX Libraries 5. Code Export a) Ensurance of Real Time Capabilities b) Code Export Interfaces 6. Wheel Loader model for Code Export via FMI 7. Summary

27 Code Export 36 Natural frequencies Identification of State variables with highest influence on the critical eigenfrequencies Components with highest influence on the critical eigenfrequencies

28 Code Export 37 Performance analysis Identification of state values with high influence on preventing increase of calculation step size Recording of weighted error estimates for every state value Detection of critical, i.e. stiff components and strong nonlinearities Model reduction for optimization of CPU time 8 th International Modelica Conference, Dresden 2011

29 Code Export 38 Switchable model complexity Example: Gear of SimulationX Power Transmission library For NVH analyses: Non-linear and high stiffness of tooth contact With backlash 8 th International Modelica Conference, Dresden 2011

30 Code Export 39 Switchable model complexity Example: Gear of SimulationX Power Transmission library For real-time simulation: Rigid, without backlash Reduction of dynamics, dimension and complexity 8 th International Modelica Conference, Dresden 2011

31 Code Export 40 Code Export interfaces Guided by Code Export wizard Integration into multiple simulation systems Direct HiL and RCP support without the necessity of third-party tools Accelerated simulation runs using executable models Support of platform-independent model exchange FMI for Model Exchange FMI for Co-Simulation 8 th International Modelica Conference, Dresden 2011

32 Code Export 41 FMI Code Export workflow Start Code Export wizard Specification of project properties Selective definition of Inputs Outputs Parameters Code Generation incl. transformation to ODE form code optimization 8 th International Modelica Conference, Dresden 2011

33 Topic Overview 2. Modeling of a simple example 3. Versatile analysis methods 4. SimulationX Libraries 5. Code Export 6. Wheel Loader model for Code Export via FMI 7. Summary

34 Wheel Loader model for Code Export via FMI 43 Wheel loader model SimulationX model to be run on an interactive motion platform Studying the influence of the human operator on the machine Realtime multi body system incl. hydraulic cylinders and valves a reduced drivetrain Paceijka tire models contact between bucket and underground FMI SARTURIS

35 Topic Overview 2. Modeling of a simple example 3. Versatile analysis methods 4. SimulationX Libraries 5. Code Export 6. Wheel Loader model for Code Export via FMI 7. Summary 8 th International Modelica Conference, Dresden 2011

36 Summary 45 Summary Handling of Modelica models within the SimulationX Graphical User Interface Versatile analysis methods in time and frequency domain Differences and combination of elements from pure Modelica and SimulationX Libraries Tools for users support in achieving real time capabilities Code export interfaces including workflow for generation of FMI export of a wheel loader model

37 Summary 46 More Information (1) Listen to us 2 Lectures The Functional Mockup Interface Implementation of Modelisar Functional Mock-up Interfaces in SimulationX ITI Vendor Session Simulating n-dimensional Modelica models with SimulationX 4 Partners Lectures Experiences with the new FMI Standard - Selected Applications at Dresden University (IVMA) Simulation-based development of automotive control software with Modelica (Daimler, Qtronic) Real Time Simulation of Vapour Compression Cycles (TLK) Optimization-Tool for local renewable energy usage in the connected system Building-eMobility (IAD) 3 Lectures about SimulationX Auto-Extraction of Modelica Code from Finite Element Analysis or Measurement Data (OptiY) High-speed train pneumatic braking system with wheel-slide protection device: a modelling application from system design to HiL testing (Global Crown Technology) Modelica Delft-Tyre Interface (Modelon AB)

38 Summary 47 More Information (2) Talk to us

39 Summary 48 More Information (3) Read about us

40 Summary 49 Interactive Motion Platform - Location 7 min by feet

41 Summary 50 At last Let me wish (you and of course us all): A successful conference Intoxicating lectures A lot of new contacts Many interesting discussions And Have a good ride!

42 Supporting your visions ITI GmbH Headquarters Webergasse 1 Haus C Dresden Germany T + 49 (0)