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Chapter 2-Modeling, Simulation and Prototyping of Systems in Mechatronics Context

model in loop simulation

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84 views39 pages

Chapter 2-Modeling, Simulation and Prototyping of Systems in Mechatronics Context

model in loop simulation

Uploaded by

Rahul Ashok
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Chapter 2-Modeling, Simulation and Prototyping of

Systems in Mechatronics Context

K.Sivanathan
Assistant Professor
Department of Mechatronics
SRM University
Lecture 9-Introduction to Modeling

K.Sivanathan
Assistant Professor
Department of Mechatronics
SRM University
What is a Model?

k c
Dynamic System Models

NI LabVIEW
MapleSoft MapleSim ANSI C

The MathWorks, Inc. Simulink® Software Esterel SCADE


NI MATRIXx SystemBuild

Simulink® is a registered trademark of The MathWorks, Inc. All other trademarks are the
property of their respective owners.
Lecture 10-Modeling Approaches for
Multidisciplinary Systems

K.Sivanathan
Assistant Professor
Department of Mechatronics
SRM University
Mechatronic Systems -Examples

Engine Control

Navigation
Control
Flight Control
Steam Turbine
Control

Dryer Cycle Print Head


Control Control Medical Device
Control
Issues in modeling of mechatronic systems
Issues in modeling of mechatronic systems

• Multi-disciplinary nature- Needs increased co-ordination effort


• Increasing complexity
• Integration of documentation/specification in model
Issues in modeling of mechatronic systems
Contemporary engineering crosses borders between traditional
disciplines:
• different physical domains
– electrical, magnetic, mechanical, fluid, thermal, ...
• different levels of modeling abstraction
– conceptual, functional, physical, virtual prototyping, (digital)
control, diagnossis, ...
• different levels of modeling idealization
– (non)linear, time (in)variable, parameter (in)dependent, …
• different model descriptions
– equations, transfer functions, block diagrams, multipoles, ...
Raising abstraction level of models

• A well-proved way of dealing with the complexity of


engineering systems is to find a suitable abstraction level to
work with.
• Many engineering subjects can themselves be seen as higher
abstraction levels of Physics, e.g. Solid mechanics, Tribology
and Thermodynamics.
• At the higher abstraction level, details can be masked or
hidden, and a big picture view of the system can be achieved,
without getting lost in details.
Raising abstraction level of models
 For a mechatronic system, the combined raise of abstraction
levels at both the embedded system and physical systems enables
model-based development, where much of the engineering work
is made and documented using models.
 In model-based development, the transformations between
models at different abstraction levels, such as compiling a
program, generating code, or provide a specific view of a system
become important.
 Some of these abstractions are used for both embedded systems
and plant models, e.g. programming code, or Simulink models.
Simulink is today used to synthesize code for the embedded
system, and to test it virtually through Hardware-in-the-Loop and
Software-in-the-Loop simulation techniques.
Raising abstraction level of models
The V model with the industrial guideline
for MBD in Mechatronics– VDI 2206
Mechatronic product design and degree of
product maturity
VDI 2206-Different levels of Models
 Topological model:
The topology of the system to be simulated is modeled as the “arrangement
and interlinking of function-performing elements”.
-kinematic (e.g. number of kinematic joints, position of robot’s joints),
-dynamic (e.g. movement of masses due forces) and
-mechatronic function (e.g. control, monitoring)
 Physical model:
Describes system-adapted variables, such as mass, length, resistances, number
of connections etc. It is pointed out that this is a domain specific view.
 Mathematical model: (Constraint model)
The physical model is transferred into an abstract representation of the model,
using mathematical descriptions. The modeler can choose the depth of the
modeling, using more or less detailed models of e.g. friction, applying
linearization of non-linear properties etc.
 Numerical model: (Realization model)
The mathematical model is prepared in such a way that it can be simulated, i.e.
it is discretized and a solver is chosen. The model is also parameterized, i.e.
concrete number values are assigned to variables.
Mechatronic product (Washing Machine)
– Model abstraction levels in the modeling process
Mechatronic design approach and washing machine model as multibody system
Analysis of mechatronic system – washing machine
Evaluation criteria of Modeling Languages
• Language scope
– What is the purpose of the language?
– What other kinds of models are included in the language?
• Level(s) of abstraction(s)
– Which models of computations are used?
• Modularity
– How can components be separated and reused?
• Tool support.
– Is it possible to run the model and/or to generate C-code?
• Tool transparency
– Is the source code open?
– Are the simulation results predictable; does the user know
what is happening inside the simulation engine?
A Case study-EPAS

A mechatronic system: Steer-by-wire. There is A schematic view of double-pinion-type EPAS.


no mechanical connection between the The controller function controls the motor
steering wheel and the steering rack. voltage, getting information from a torque
sensor mounted on the steering column.
A Case study-EPAS contd.

Schematic lumped model of the plant Differential Equations of EPAS


model of the EPAS system
Bond graph model of EPAS
• Bond graphs can be regarded as a
graphical method to describe the
energy flow in a lumped description
of a physical system.
• One of the key features of bond
graphs is the systematic approach.
• Different physical domains are
described using the same building
blocks, such as effort source, flow
source, capacitor, resistor, inertia,
transformer, 1-junction, 0-junction,
and gyrator.
Bond graph representation of the EPAS plant
Modelica model of EPAS
• Modelica is a modeling language
that allows specification of
mathematical models for the
purpose of computer simulation of
dynamical systems.
• Modelica is a “free object-oriented
modeling language with a textual
definition to describe physical
systems in a convenient way by
differential, algebraic and discrete
equations”
• Modelica consists of three parts,
which are interrelated:
– The language
– the standard library and
– the Modelica tools. Modelica model of the EPAS system, modeled in Dymola
Simscape model of EPAS

Simscape model of the EPAS system


Simulink model of EPAS

EPAS system model in Simulink


SysML model of EPAS
• The scope of SysML is to
be the systems
engineering language of
the future, where
information of system
components can be stored
in a common model.
• It is more focused on
information modeling than
on simulation, although
these aspects can coincide Modeling an Ordinary Differential Equation (ODE) in
SysML, using constraint blocks and a parametric diagram
Models/ Bond Simscape Simulink Modelica SysML NI
Features graph LabVIEW

Language
scope
Levels of
Abstraction
Modularity
Tool support
Tool
Transparency
Deployment
Lecture 11
Model Verification and Validation
• Validation is the process of determining whether the
conceptual model is an accurate representation of the actual
system being analyzed. Validation deals with building the right
model.
• Verification is the process of determining whether a simulation
computer program works as intended (i.e., debugging the
computer program). Verification deals with building the model
right.

Validation Conceptual
Real - Model
World
System

Simulation
Program
The V model with the industrial guideline
for MBD in Mechatronics– VDI 2206
Mechatronic product design and degree of
product maturity
VDI 2206-Different levels of Models
 Topological model:
The topology of the system to be simulated is modeled as the “arrangement
and interlinking of function-performing elements”.
-kinematic (e.g. number of kinematic joints, position of robot’s joints),
-dynamic (e.g. movement of masses due forces) and
-mechatronic function (e.g. control, monitoring)
 Physical model:
Describes system-adapted variables, such as mass, length, resistances, number
of connections etc. It is pointed out that this is a domain specific view.
 Mathematical model: (Constraint model)
The physical model is transferred into an abstract representation of the model,
using mathematical descriptions. The modeler can choose the depth of the
modeling, using more or less detailed models of e.g. friction, applying
linearization of non-linear properties etc.
 Numerical model: (Realization model)
The mathematical model is prepared in such a way that it can be simulated, i.e.
it is discretized and a solver is chosen. The model is also parameterized, i.e.
concrete number values are assigned to variables.
Lecture 12-13
Different types of Simulation/Testing
Different Testing Paradigms
• The first step is the MIL, where neither the controller
nor the plant operates in real time. This step, usually
used toward the beginning of the process, allows
engineers to study the performance of the system
and design the control algorithm(s) in a virtual
environment, running computer simulations of the
complete system, or subsystem.
• Rapid Control Prototyping (RCP) provides the
engineer with the ability to quickly test and iterate
their control strategies on a real-time computer with
actual hardware. The control strategy is simulated in
real-time on a processor that augments or replaces
the real embedded controller, allowing the user to
investigate and refine the control algorithms while
operating with the real system under control. RCP is
now a commonly used method to develop and test
control strategies.
Different Testing Paradigms
• In SIL phase, the actual Production Software
Code is incorporated into the mathematical
simulation that contains models of the
Physical System. This is done to permit
inclusion of software functionality for which
no model(s) exists or to enable faster
simulation runs.
• Controller HIL is a technique for running a
mathematical simulation model of a system
on a real-time computer, integrated with
actual controller hardware and software, such
that the controller acts as though it were
integrated into the real system. This is used
for testing and validation of embedded
electronic controllers, prior to testing in a
vehicle or on a dynamometer.
Real-Time Testing (RTT)
• Test that provides deterministic stimulus for reliability and accurate
simulation of an environment
• RTT Types:
– Model in the loop (MIL)
– Rapid Control Prototyping (RCP)
– Software in the Loop(SIL)
– Processor in the Loop(PIL)
– Hardware in the Loop (HIL)
– Functional Testing / Test Cells
Types of Models

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