Modeling and Simulation of Electromechanical Systems

Transcription

1 Modeling and Simulation of Electromechanical Systems Dhirendra Singh Application Engineer Vivek Raju Application Engineer 2015 The MathWorks, Inc. 1

2 Challenges Working with Multi-Domain systems (Mechanical, Electrical) Modeling Kinematics & Mechanisms of Mechanical design Determine the sizing of the electrical components like motors and optimize the parameters Develop appropriate control logic (Field oriented control and event based control logic) Perform real-time simulation for rapid control prototyping and hardware-in-the-loop simulation 2

3 Demo Electrically Assisted Power Steering 3

4 Challenge 1: Working with Multi-Domain systems (Mechanical, Electrical) To address this challenge We need to have a platform which allows working with Electrical, Mechanical and Control system in a single environment 4

5 Introduction to Simscape Enables physical modeling (acausal) of multidomain physical systems Eases process of modeling physical systems Build models that reflect structure of physical system Leverage MATLAB to create reusable models Used by system and control engineers to build models with the same structure as the physical system V+ V- 5

6 Develop Complex Multidomain Systems Inputs and outputs Software components Physical connections Simultaneous equations + - PID Physical Hardware A B S1 T P T if (..) x = else x = S3 S2 Software & Algorithms Use the right language for the right task Use Model-Based Design on the entire system 6

7 Challenge 2: Modeling Kinematics & Mechanisms of Mechanical design To address this challenge We need to have platform to model kinematics and mechanisms of mechanical systems and simulate the dynamics. We also require to import existing enterprise CAD models. 7

8 Modeling Kinematics & Mechanisms of Mechanical design Enables multibody simulation of 3D mechanical systems Construct model using bodies, joints, and forces Model matches structure of system No need to derive and program equations Primary uses System-level analysis of mechanical and multidomain systems Control development in Simulink 8

9 Modeling Mechanical Systems Foundation library of basic mechanical components Mass, spring, damper Friction Translational or rotational Mechanisms (gear, rack-pinion) Combine components to create reusable systems Combine with Simscape Driveline and Simscape Multibody to model more complex systems 9

10 Working with Simscape Multibody Build components Predefined solids Extrusions defined in MATLAB Parameterize components MATLAB variables Custom dialog boxes Connect with joints Sense and actuate Guide assembly 10

11 CAD to MATLAB to Simscape Multibody 1. Export from CAD to MATLAB code SolidWorks: CAD2MATLAB_SolidWorks.swp Other CAD System: Adapt code to your CAD system s API 2. Run MATLAB code to create data structure in MATLAB 3. Run data2smixml.m to generate Simscape Multibody XML file 4. Import Simscape Multibody XML file to create Simscape Multibody model parameterized with STL files for animation. 2 >> robot.m CAD 1 CAD2MATLAB_SolidWorks.swp robot.m part.stl smimodel 3 >> data2smixml(smimodel, robot.xml ) robot.xml 4 >> smimport( robot.xml ) robot.slx 11

12 Key Takeways Provides libraries for modeling 3D mechanical systems Use 3D visualization to animate simulation results and explore model Connect to other physical domains and controller in a single environment 12

13 Challenges Working with Multi-Domain systems (Mechanical, Electrical) Modeling Kinematics & Mechanisms of Mechanical design Determine the sizing of the electrical components like motors and optimize the parameters Develop appropriate control logic (Field oriented control and event based control logic) Perform real-time simulation for rapid control prototyping and hardware-in-the-loop simulation 13

14 Challenge 3: Determine the sizing of the electrical components like motors and optimize the parameters To address this challenge We need to model the motor, analyze the behavior by simulating the model and optimize the parameters of the electromechanical system. 14

15 Model and Simulate DC Electromechanical System. Model: DC Motor + - Motor Servoamplifier Problem: Model a DC motor with a configurable PWM controller in the Simulink environment Solution: Use Simscape Electronics to model the mechatronic system 15

16 Modeling 3-Phase Electrical Systems Model: a b c Problem: Build a modular, intuitive model of a 3-phase electric motor without deriving equations. Solution: Use Simscape Power Systems to model the System. 16

17 Estimating Model Parameters of Motor Model: Down V Up R = Resistance L = Inductance J = Inertia B = Friction K = Back EMF Constant V- V+ Up Down Problem: Simulation data does not match measured data because the parameters are incorrect Solution: Use Simulink Design Optimization to automatically tune model parameters R L J K B e

18 Challenge 4: Develop appropriate control logic (Field oriented control and event based control logic) To address this challenge We need to tune the proportional and integral values to an appropriate level for a smooth steering control. 18

19 Optimize System-Level Performance and Meet Design Requirements u + s1 s3 s2 y Controller Plant Simulating plant and controller in one environment allows you to optimize system-level performance 19

20 Demo: Field Oriented Control of PMSM Desired RPM _ Isq_ref PI Isd_ref _ + _ PI PI Vsq_ref Vsd_ref Inv_Park Transform d,q To alpha,beta Vs_alpha Vs_beta Space Vector PWM 3-Phase Inverter Is_q Park Transform Is_alpha Clark Transform Ia Va Vb Vc Is_d alpha, beta to d, q Is_beta a,b,c to alpha, beta Ib theta PMSM Motor RPM Position & Speed Sensing 20

21 Challenge 5: Perform real-time simulation for rapid control prototyping and hardware-in-the-loop simulation To address this challenge We need to have a real-time operating system to quickly prototype the control system before implementing in an embedded processor and also perform an hardware-in-the-loop simulation. 21

22 Simulink Real-Time Enables Simulation and Testing Rapidly create real-time applications from Simulink models and run and test them with your hardware under test at normal operating frequencies, speeds, and timing. Real-Time Metso was able to achieve multiple goals simultaneously. They were able to developed a sophisticated controller for digital hydraulics that is more reliable, accurate, and efficient than previous systems, and they were able to accelerate their development. Simulations in Simulink and real-time testing with Simulink Real-time helped us deliver an exceptionally reliable control system. Kari Leminen, Metso 22

23 Real-Time Simulation and Testing Tasks: Rapid Control Prototyping I/O Output I/O Input 0 0 Wiring and Signal Conditioning Target Computer Hardware Physical Plant Hardware 23

24 Real-Time Simulation and Testing Tasks: Hardware-in-the-loop (HIL) Simulation Embedded Controller Hardware Wiring and Signal Conditioning Target Computer Hardware 24