2011 European HyperWorks Technology Conference · DSH program roots at RWTH Aachen 1973 . This...
Transcript of 2011 European HyperWorks Technology Conference · DSH program roots at RWTH Aachen 1973 . This...
This copyrighted document is the property of FLUIDON GmbH and is disclosed in confidence.
It may not be copied, disclosed to others, or used for manufacturing, without the prior written consent of FLUIDON GmbH
Slide 1 FLUIDON at EHTC 2011
© 2011 FLUIDON
COMPETENCE IN FLUID POWER SYSTEMS SIMULATION
KOMPETENZ IN DER SIMULATION FLUIDTECHNISCHER SYSTEME
DSHplus
a HWPA Program Gateway
into Model-Based Design of
Mechatronic Systems
Dr. Heiko Baum
FLUIDON GmbH
2011 European HyperWorks Technology Conference
This copyrighted document is the property of FLUIDON GmbH and is disclosed in confidence.
It may not be copied, disclosed to others, or used for manufacturing, without the prior written consent of FLUIDON GmbH
Slide 2 FLUIDON at EHTC 2011
© 2011 FLUIDON
Content
Model Based Design of Mechatronic Systems 1
Application field for DSHplus at a Model Based Design 2
DSHplus - a HWPA Program Gateway into Model-Based Design 3
Summary 4
This copyrighted document is the property of FLUIDON GmbH and is disclosed in confidence.
It may not be copied, disclosed to others, or used for manufacturing, without the prior written consent of FLUIDON GmbH
Slide 3 FLUIDON at EHTC 2011
© 2011 FLUIDON
start product
version A
The Mechatronic Product Development Process according to VDI 2206
refinement of the
specification
... ... ... ... ... ...
product version B
System integration
Model development and analysis
Domain specific design
System design
Feature verification
• 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
This copyrighted document is the property of FLUIDON GmbH and is disclosed in confidence.
It may not be copied, disclosed to others, or used for manufacturing, without the prior written consent of FLUIDON GmbH
Slide 4 FLUIDON at EHTC 2011
© 2011 FLUIDON
The Mechatronic Product Development from a Product Point of View
=
Discrete Description
Rigid body
Joining elements
Coordinate systems
Liquids
Hydrolic elements
Compressor
Cylinder
…
Control elements
Voltage sources
Semiconductors
Sensors
…
Circuits
P, D, I Elements
Logical elements
…
• Realizing natural and logical mappings between
disciplinary product structure is a challenge to
consider.
• “… an approach for the integration of different
product models is therefore also fundamental.”
• Model-Based Design is one technique that supports
this development procedure
Source:
Dr. Alain Pfouga
PROSTEP AG
Geometry
Assembly
structure
Feature
Materials
This copyrighted document is the property of FLUIDON GmbH and is disclosed in confidence.
It may not be copied, disclosed to others, or used for manufacturing, without the prior written consent of FLUIDON GmbH
Slide 5 FLUIDON at EHTC 2011
© 2011 FLUIDON
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: http://en.wikipedia.org/wiki/Model-based_design
This copyrighted document is the property of FLUIDON GmbH and is disclosed in confidence.
It may not be copied, disclosed to others, or used for manufacturing, without the prior written consent of FLUIDON GmbH
Slide 6 FLUIDON at EHTC 2011
© 2011 FLUIDON
Validation
Verification
Rapid Prototyping
Simulation
Method
Example of a V-cycle
for Controller Development
Simulation Methods used for Model-Based Design
„Model-
in-the-Loop“
„Software-
in-the-Loop“
„Hardware-
in-the-Loop“
System
Specification
Function
Specification
Reviews
Program
Specification
Module
Design
Program
Coding
Module Test
Integration
Test
Function
Test
Final Test
Virtual
Proto Type
• 1D system simulation tools such as DSHplus are the mainstream technology to
model and analyze multi-domain, intelligent systems and predict their multi-
disciplinary performance in a Model-Based Design development process.
This copyrighted document is the property of FLUIDON GmbH and is disclosed in confidence.
It may not be copied, disclosed to others, or used for manufacturing, without the prior written consent of FLUIDON GmbH
Slide 7 FLUIDON at EHTC 2011
© 2011 FLUIDON
Content
Model Based Design of Mechatronic Systems 1
Application field for DSHplus at a Model Based Design 2
DSHplus - a HWPA Program Gateway into Model-Based Design 3
Summary 4
This copyrighted document is the property of FLUIDON GmbH and is disclosed in confidence.
It may not be copied, disclosed to others, or used for manufacturing, without the prior written consent of FLUIDON GmbH
Slide 8 FLUIDON at EHTC 2011
© 2011 FLUIDON
What is DSHplus ?
DSHplus that is 1D-Simulation for Fluid-Power Mechantronic Systems
DSHplus - 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++
This copyrighted document is the property of FLUIDON GmbH and is disclosed in confidence.
It may not be copied, disclosed to others, or used for manufacturing, without the prior written consent of FLUIDON GmbH
Slide 9 FLUIDON at EHTC 2011
© 2011 FLUIDON
• With over 10 years experience in co-simulation and mechatronic design
FLUIDON is one of the pioneers in the industrial usage of this technology
How flexible is DSHplus in the context of Mechatronic System Simulation?
1996 1998 2006 2002 2003 2004 2005
FLUIDON
joints MATLAB
partner program
2000 1994 2007
Equation
export
to ACSL
Air-Spring
co-simulation
with SIMPACK
Equation
export
to ADAMS
Co-simulation
with MOBILE
Equation
export
to Simulink
Equation
export
to Opal-RT
Program launch
directly with open
source code
model description Launch of
DSHplus-STC
2008 2009
FLUIDON joints
2011
Current Target List:
-Generic PC Export
-Generic Linux Export
-Simulink
-Altair MotionSolve
-ADAMS
-DADS (PC, SGI)
-SIMPACK
-Virtual.Lab
ADAMS Plug-In for DSHplus-STC
DSHplus-STC
for KIVA
combustion
simulation
DSHplus-STC
for SIEMENS
WinAC Soft PLC DSHplus- Interface
with
DSH program
roots at RWTH
Aachen
1973
This copyrighted document is the property of FLUIDON GmbH and is disclosed in confidence.
It may not be copied, disclosed to others, or used for manufacturing, without the prior written consent of FLUIDON GmbH
Slide 10 FLUIDON at EHTC 2011
© 2011 FLUIDON
DSHplus
plant model
int Regleralgorithmus (...)
{
...
}
Manually programmed
controller source code
µC - simulator
Import Co-Simulation
Co-Simulation
DSHplus Applications for Mil-, SiL- and HiL-Simulation
Model-in-the-loop (MIL)
available interface
Intended or possible interface
Software-in-the-Loop (SiL) covered by DSHplus-STC
NON-RT Hardware-in-the-Loop (HiL)
Export with RTW
S-Function
Export with
DSHplus RTW Target
Import
Code
export
Stand-alone simulation
in DSHplus
DSHplus
plant model
DSHplus
plant model
DSHplus
HIL-Box
Link via
passive
I/O-interface
electronics
Customized
interface
µ-controller based real-time system
This copyrighted document is the property of FLUIDON GmbH and is disclosed in confidence.
It may not be copied, disclosed to others, or used for manufacturing, without the prior written consent of FLUIDON GmbH
Slide 11 FLUIDON at EHTC 2011
© 2011 FLUIDON
Available solution
DSHplus
plant model
DSHplus-RT
export PC based RT-
Linux system
DSHplus
plant model
DSHplus-RT
Export
Export with RTW
and/or Target-Link
Special
RT-Hardware
DSHplus-RT – Real Time Fluid Power Models
DSHplus-RT
export
RT Hardware-in-the-Loop (HiL)
Available solution
µ-Controller hardware
DSHplus
HIL-Box
Link via
passive
I/O-interface
electronics
available interface
Intended or possible interface
This copyrighted document is the property of FLUIDON GmbH and is disclosed in confidence.
It may not be copied, disclosed to others, or used for manufacturing, without the prior written consent of FLUIDON GmbH
Slide 12 FLUIDON at EHTC 2011
© 2011 FLUIDON
Content
Model Based Design of Mechatronic Systems 1
Application field for DSHplus at a Model Based Design 2
DSHplus - a HWPA Program Gateway into Model-Based Design 3
Summary 4
This copyrighted document is the property of FLUIDON GmbH and is disclosed in confidence.
It may not be copied, disclosed to others, or used for manufacturing, without the prior written consent of FLUIDON GmbH
Slide 13 FLUIDON at EHTC 2011
© 2011 FLUIDON
HyperGraph Result Analysis
DSHplus a HWPA Program Gateway into Model-Based Design
DSHplus
1D System Simulation
MotionSolve Multi-Body co-simulation
of mechatronic
systems
flexibility of components
RADIOSS Finite Element
data for stress analysis
CAE supported design level
RT export or
PLCI interface
PLC / HMI Controls
PLM supported design level
EPLAN Project Documentation
CAD Geometries for Models
project data exchange
HyperStudy Parameter Optimization
Measurements Validation
validation level
This copyrighted document is the property of FLUIDON GmbH and is disclosed in confidence.
It may not be copied, disclosed to others, or used for manufacturing, without the prior written consent of FLUIDON GmbH
Slide 14 FLUIDON at EHTC 2011
© 2011 FLUIDON
Picture source:
Hans-Dieter Kochs
Faculty of Engineering - Institute for Information Technology
University of Duisburg-Essen / Germany
subsystem-
level
joint
i+1
attachment
i
cantilever i
joint
i AS2
G UM2
G
Z2
Mechanical components
and flexible bodies
MotionSolve & DSHplus-STC
DSHplus 1D System Model
PLC / HMI & DSHplus-PLCI
unit
(arm segment)
AR Computer / PLC / HMI
hydraulic actuator (cylinder) i
D K P W O8
Sensors and actuators
DSHplus - HWPA Integration from a Product Point of View
This copyrighted document is the property of FLUIDON GmbH and is disclosed in confidence.
It may not be copied, disclosed to others, or used for manufacturing, without the prior written consent of FLUIDON GmbH
Slide 15 FLUIDON at EHTC 2011
© 2011 FLUIDON
DSHplus-PLCI – Programmable Logic Controller Interface
Control cabinet E/A-Field bus node
Virtual plant model in DSHplus Soft PLC Visualization
Server
Hardware interface
This copyrighted document is the property of FLUIDON GmbH and is disclosed in confidence.
It may not be copied, disclosed to others, or used for manufacturing, without the prior written consent of FLUIDON GmbH
Slide 16 FLUIDON at EHTC 2011
© 2011 FLUIDON
Advancements in DSHplus - HyperWorks Integration
• MotionView Integration • Macro support for DSHplus
model import into MotionView
• DSHplus labels are now used within MotionView
• The new interface handles 1 to 99 in- and out-put values
• Collaboration with HyperGraph • DSHplus
stores result data in
HyperWorks ABF-file format
• Cooperation with HyperStudy • In a background simulation mode DSHplus
models can be controlled by HyperStudy
• Possible applications are parameter optimization or a sensitivity analysis
This copyrighted document is the property of FLUIDON GmbH and is disclosed in confidence.
It may not be copied, disclosed to others, or used for manufacturing, without the prior written consent of FLUIDON GmbH
Slide 17 FLUIDON at EHTC 2011
© 2011 FLUIDON
DSHplus 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.
This copyrighted document is the property of FLUIDON GmbH and is disclosed in confidence.
It may not be copied, disclosed to others, or used for manufacturing, without the prior written consent of FLUIDON GmbH
Slide 18 FLUIDON at EHTC 2011
© 2011 FLUIDON
DSHplus and HyperStudy: Study setup
The template is created from the standard DSHplus
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.
Create design variables
Of interest for the DSHplus
HyperStudy demo project are
the controller parameters KP,
KI, and KD.
This copyrighted document is the property of FLUIDON GmbH and is disclosed in confidence.
It may not be copied, disclosed to others, or used for manufacturing, without the prior written consent of FLUIDON GmbH
Slide 19 FLUIDON at EHTC 2011
© 2011 FLUIDON
Development of the
quality value during
the optimization study.
DSHplus and HyperStudy: Post processing with HyperStudy
Development of the
controller parameters during
the optimization study.
This copyrighted document is the property of FLUIDON GmbH and is disclosed in confidence.
It may not be copied, disclosed to others, or used for manufacturing, without the prior written consent of FLUIDON GmbH
Slide 20 FLUIDON at EHTC 2011
© 2011 FLUIDON
Result evaluation in DSHplus
Simple example of a hydraulic cylinder drive.
Dotted lines are initial results. Thick lines are results after optimization.
This copyrighted document is the property of FLUIDON GmbH and is disclosed in confidence.
It may not be copied, disclosed to others, or used for manufacturing, without the prior written consent of FLUIDON GmbH
Slide 21 FLUIDON at EHTC 2011
© 2011 FLUIDON
Content
Model Based Design of Mechatronic Systems 1
Application field for DSHplus at a Model Based Design 2
DSHplus - a HWPA Program Gateway into Model-Based Design 3
Summary 4
This copyrighted document is the property of FLUIDON GmbH and is disclosed in confidence.
It may not be copied, disclosed to others, or used for manufacturing, without the prior written consent of FLUIDON GmbH
Slide 22 FLUIDON at EHTC 2011
© 2011 FLUIDON
Summary
• Model-Based Design is a technique that supports a CAx-driven
mechatronic development procedure
• 1D system simulation tools, such as DSHplus
, are the mainstream
technology to generate plant models, that are required for the
Model-Based Design approach
• For other HyperWorks products the various DSHplus
interfaces
provide proven gateways into the Model-Based Design
of mechatronic products
• Get more insight into the DSHplus
capabilities at FLUIDON's EHTC
booth