Entwicklung mechatronischer Systeme in der Luft- und Raumfahrt Eva Pelster 2015 The MathWorks, Inc. 1
Key Points Create intuitive models that all teams can share Requirements 1. Mechanical System Simulate system in one environment to Perform tradeoff studies Optimise system performance Test without prototypes Configure Model Real-Time Hardware Generate C Code Tune Parameter 2
Agenda Example: Flight actuation system Benefits of Model-Based Design Actuator design Modeling the mechanical system Determining actuator requirements Testing Electrical and Hydraulic Designs Optimising System-Level Design HIL testing 3
Example: Aileron Actuation System System Desired Angle Controller Actuator Force Measured Angle Simulation goals 1. Determine requirements for actuation system 2. Test actuator designs 3. Optimise system performance 4. Run simulation on real-time hardware for HIL tests 4
Traditional Design Process REQUIREMENTS Cannot validate design against requirements DESIGN Cannot test or optimize fully integrated design Control Mechanical IMPLEMENTATION Emb. Code INTEGRATION AND TEST Electrical Can only find problems using hardware prototypes Manual coding is slow, buggy, and hard to verify 5
TEST & VERIFICATION Model-Based Design REQUIREMENTS Detect Cannot errors validate right design away with against continuous requirements verification SYSTEM DESIGN LEVEL DESIGN Control Mechanical Electrical IMPLEMENTATION IMPLEMENTATION Emb. Code HIL System Optimize Cannot design test or optimize in a single simulation fully integrated environment design Can only Lower find costs problems using using hardware HIL tests prototypes Save Manual time coding by automatically is slow, generating buggy, and embedded hard to verify code INTEGRATION INTEGRATION AND TEST AND TEST 6
Agenda Example: Flight actuation system Benefits of Model-Based Design Actuator design Modeling the mechanical system Determining actuator requirements Testing Electrical and Hydraulic Designs Optimising System-Level Design HIL testing 7
Modeling the Mechanical System CAD System: Joints θ Aileron Simscape Problem: Model the mechanical system within Simulink Solution: Import the mechanical model from CAD into Simscape Multibody 8
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Determining Actuator Requirements Model: θ Aileron Problem: Determine the requirements for an aircraft aileron actuator Solution: Use Simscape Multibody to model the aileron and Simscape to model an ideal actuator 10
Testing Electrical and Hydraulic Designs Model: Problem: Test different actuator designs in the system Solution: Use Simscape Fluids and Simscape Electronics to model the actuators, and variant subsystems to test them 11
Agenda Example: Flight actuation system Benefits of Model-Based Design Actuator design Modeling the mechanical system Determining actuator requirements Testing Electrical and Hydraulic Designs Optimising System-Level Design HIL testing 12
Optimising System Performance Model: Angle Current ω Speed Control i Current Control Problem: Optimise the speed controller to meet system requirements Solution: Tune controller parameters with Simulink Design Optimization ω Speed Control K p K i 0.62 0.3 0.29 0.3 13
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Agenda Example: Flight actuation system Benefits of Model-Based Design Actuator design Modeling the mechanical system Determining actuator requirements Testing Electrical and Hydraulic Designs Optimising System-Level Design HIL testing 15
Configuring an Electrical Actuator for HIL Testing Model: Variable step, implicit solver (Reference) Controller Numerically Stiff System Problem: Configure solvers to minimize computations and convert to C code for real-time simulation Solution: Use Simscape local solvers on stiff physical networks and Simulink Coder to generate C code Configure Model Generate C Code Real-Time Hardware Tune Parameter 16
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Key Points Create intuitive models that all teams can share Requirements 1. Mechanical System Simulate system in one environment to Perform tradeoff studies Optimise system performance Test without prototypes Configure Model Real-Time Hardware Generate C Code Tune Parameter 18