DSH plus – STC · ADAMS Plug-In for DSH plus-STC 1996 Equation export to ACSL 1998 Air-Spring...

EHTC 2008

© 2008 FLUIDONThis 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

COMPETENCE IN FLUID POWER SYSTEMS SIMULATION

KOMPETENZ IN DER SIMULATION FLUIDTECHNISCHER SYSTEME

DSHplus – STC

Fluid Power Specific Simulation Modules

for an Integrated Virtual Engineering in

MotionSolve

2nd European HyperWorks Technology ConferenceSeptember 30th until October 1st 2008, Strasbourg, France

EHTC 2008



Table of Contents

Introducing FLUIDON GmbH1

DSHplus – A leading Fluid-Power Simulation Software (1D-System Simulation)2

DSHplus-STC – An Innovative Approach for Multi-Domain System Simulation3

DSHplus-STC – Application Examples 4

Summary5

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Introducing FLUIDON and DSHplus

FLUIDON considers itself as a competence partner for the simulation

of mechatronical systems. With that we mean the support of our customers in the complete area of fluid technical system development

and application - from the provision of simulation software up to

software services and engineering support.

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Origin of FLUIDON at the RWTH Aachen

Historical Highlights of IFAS - Institute for Fluid Power Drives and Controls

As nationally and internationally recognized research institution, the IFAS is and has been pioneering many developments in Fluid Power technology.

60's: Beginnings of servo hydraulics, fluidics

70's: Basis of cavitation research, servo pneumatics, pump controlled systems

80's: Digital control, development of DSHplus (simulation tool), proportional / directional control cartridge valves, secondary control

90's: Pre-compression chamber in piston pumps, fuzzy control, bio fluids, piezo technology, sealing engineering (blow-by effect)

present: Coating technology, condition monitoring

The Institute's Development

1968: IFAS is founded as "Institut für hydraulische und pneumatische Antriebe und Steuerungen" -IHP in short. Under Professor Backé's direction, two academic and six non-academic staff members are employed in the very beginning.

1977: The Institute now moves into its own large experimental hall with attached office building in the RWTH Expansion Area Seffent-Melaten. Now, there is room for about 50 test-stands, workshops, laboratories, computer rooms and a library.

1994: Concurring with the succession to the direction of the Institute and to the professorship by Professor Murrenhoff is the change of the Institute's name. Today, about 25 academic staff members, 20 non-academic employees and approx. 40 student assistants are working under the grammalogue IFAS. Founding of FLUIDON as Spin-Off

1998: Opening of the expansion building which offers additional space for offices as well as computer, seminar and conference rooms thus giving more capacity for R&D tasks.

IFAS, Expansion Building and Conference Room

Areal View of IFAS

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Engineering Services of FLUIDON

- Development of User Specific Component Models

- Generation of User Specific Libraries

- Programming of User Specific Program Extensions

- Test Bench Measurements

-System Examination

- Simulation Parameter Identification

- Consultation to fluid-technical problems

- Fault Diagnostics - Set-up and Parameterization

of Simulation Models

- Project Simulation

Target SystemIntegration

InterfaceDefinition

Parameter

Identification

DSHplus System

Simulation

Model

Migration

Component

Modelling

Customer Data(Design Guidelines,Circuit Diagram, Interfaces, etc.)

Customer SpecificDSHplus Fluid Power

Sub-Systems

- Model Export

- Target System Implementation

- Validation of the Coupled

Simulation

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IFAS disposes two experimental laboratory buildings which are equipped with workshops and laboratories and give excellent opportunities to deal

effectively with R&D tasks. The newest measuring technology for all fluid power values is available.

• floor space about 1250 m² room for approx. 60 test rigs

• 2 clamping beds (5 x 3m), 70 ton foundation, 2 clamping beds (3 x 2.5m)

• 5 sound proof closets, 35 ton foundations

• anechoic room for sound measurements, (6.5 x 8m), drives 200 kW

• passable climatic test room (4.75 x 3.3 x 3m),

-70°C to +70°C, 20% to 95% relative humidity

• valve test stand max. 315 bar

• max. 500 1/min. ageing test rigs

for hydraulic fluids tribo tester

Available Laboratory and Test Rig Resources

Laboratory Building 2

Laboratory Buildings 1

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Table of Contents





Summary5

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Development History of DSHplus

FLUIDON accumulates over 30 years experience in the simulation of fluid power systems !

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DSHplus – A leading Fluid-Power Simulation Software (1D-System Simulation)

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DSHplus - Libraries and Virtual-Engineering-Lab

Abbildungder Aufgabenstellungals Simulationsmodell

Anwendung vonAutomatisierungsfunktionenzur Vereinfachung derSimulation

Vertiefende Analyseder Simulationsergebnisse

und des Gleichungssystems

Umsetzung deserarbeiteten Lösungskonzeptes

Integration vonMeßdaten in die

Untersuchung

Automatisierungder Systemsimulation

Dynamischeund

statischeAnalyse

des Systems

DSHvereinfacht die Unter-

suchung fluidtechnischerSysteme mit speziell

hierzu optimiertenAnalysewerkzeugen

Available Libraries are:

Hydraulic and Thermo-HydraulicPneumaticControl, Logic, and Mathematical Elements

Mechanic and Drive-TechnologyAutomotive Specific LibrariesUser Library

The DSHplus Virtual Engineering Lab is a collection of

tools, that supports the design engineer’s work from the

conception of a fluid power drive through the controller set-up to the final start-up of the system.

Available Pre-Processing Modules are:

Parameter Variation with DoE FunctionalityBatch SimulationParameter Optimization

Available Post-Processing Modules are:

FFT CalculationBode-Plot CalculationLinear System IdentificationEigenvalue Calculation

Additional Program Modules are:

Component ProgrammingSub-Model EditorLook-up Table EditorParameter Protection

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Table of Contents





Summary5

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The Application Steps of DSHplus-STC

Online co-simulation:• Online manipulating of DSHplus model• Online post-processing in DSHplus

• Huge number of predefined models in libraries

Step 2: Optimization and Verification of the fluid power System by means of a co-simulation

DSHplus Co Simulation

Step 1: Initial simulation of the fluid power system in DSHplus

Embedded co-simulation:• No local license of DSHplus necessary• Manipulate pre-selected parameters of DSHplus model• Incorporate as any feature else

Step 3: Export of the fluid power system as embedded system in a different simulation domain or on a different hardware

C++ ModelSource Code

C++ AuxiliaryFunctions

C++ NumericalRoutines

DSHplus DifferentialEquation Export

DSHplus Solver Export

EHTC 2008



Over 10 Years Experience in Co-Simulation!

ADAMS Plug-In

for DSHplus-STC

1996

Equation

export

to ACSL

1998

Air-Spring

co-simulation

with SIMPACK

Equation

export

to ADAMS

2006

DSHplus-STC

for KIVA

combustion

simulation

2002

Co-simulation

with MOBILE

2003 2004 2005

Equation

export

to Simulink

Equation

export

to Opal-RT

FLUIDON

joints MATLAB

partner program

DSHplus-STC

for SIEMENS

WinAC Soft PLC

20001994

Program launch

directly with open

source code

model description

2007

Launch of

DSHplus-STC

Launch of

DSHplus-RT

Target List:

Generic C Export

Simulink C S-Function

dSPACE

SORCUS

VEMAC VeRA

Target List:

Generic PC Export

Generic Linux Export

Simulink

ADAMS

DADS (PC, SGI)

SIMPACK

Virtual.Lab

Launch of

DSHplus-ECC

Know-How Protection through

Encapsulated Components

(hidden parameters

and pre-compiled source code)

2008

FLUIDON is one if the pioneers inindustrial usage of co-simulation solutions!

EHTC 2008



Survey of Possible DSHplus-STC Applications

…and many more to find in your application!

• Landing gear suspensions

• Actors & controls in flaps and slats

• Controls &

hydraulics

Aero

• Suspension

• Brake

• Active Roll System

• Axle Steering System

Railway

• Hydraulic lash adjuster

• Torque converters

• Injection pumps & nozzles

• Belt / Chain

Tensioners

• Power tools

• Implement actors & controls

• Hydraulic systems

Hydro bushings

Seat- and cabin suspensionsActive body control

• Presses and Roller Mills

• Injection molding machine

• Component

development

• Function: Power Steering, Power Braking

• Safety: ABS, ESP

• Comfort: Air springs, semi-active dampers

IndustryEngineTractor/

ConstructionTruck /Trailer

Car

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Table of Contents





Summary5

EHTC 2008



DSHplus Co-Simulation of an Air Spring with MSC.ADAMS

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DSHplus Co-Simulation of a Hydraulic Pump

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DSHplus Co-Simulation of an Injection-Moulding Clamp Unit

© Université du Luxembourg

Dipl.-Ing. C. Hostert,

Prof. Dr.-Ing. S. Maas,

Prof. Dr.-Ing. A. Zürbes,

Co-Simulation Set-up

Results

Co-Simulation of Mechatronic Systems

EHTC 2008



DSHplus Co-Simulation of a Tryout Press

Co-simulation of a complex DSHplus press model an a MBS model of a press frame including flexible structures

Sub-Model of a hydraulic sub system of the tryout press

EHTC 2008



DSHplus Co-Simulation of Excavator Hydraulic and Mechanic

Investigations on the dynamics of a mining

excavator loading gear under consideration of interactions between hydraulics and

kinetics.

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DSHplus Co-Simulation of an Air Plane Landing Gear

EHTC 2008



DSHplus-STC – Other possible 1D-domain models

DSHplus signal component model of a

steer-by-wire controller

Steering Torque Control

Position Control

Signal Conditioning

Diagnose

DruckDiff

SignalAusgang1

Relais

Anschlag

f_Motor

Lenkmoment

H17

H16

H15

H14

Vorz_deltadot_LR

LenkanschlagOR2

1

AND2

&

AND1

&

H13

n_Motor

Vorzeichen

Vorz_delta_Fehler

d_Fehlerd_Soll

Uebersetzung

D3

1

23

Rechteck

MonoFlop1

1

Start

Okay

OR1

1

H12

Summe1

+

H11

H10

H9

l

+

H8

H7

H6

i

+

p_Limits

deltadot_LR_Limits

deltadot_LR

DT11

v_Limits

U_Limits

delta_Diff

D212

3

delta_Diff_Limits

delta_AK_Limits

delta_LR_Limits

v_Fzg

p_P

delta_AK

delta_LR

H5

PT21

H4

D1

1

2

3

Totzeit1

H3

H2

H1

PT13

PT12

PT11

U2Druck

U2delta_AK

U2delta_LR

U_Geschw

U_Druck

U_delta_AK

U_delta_LR

U_Batt

U_Start

SignalEingang1

DSHplus OutputSignals

External Input Signals

DSHplus hydro-mechanical model of a

power split drive line

EHTC 2008



Table of Contents




Application Examples 4

Summary5

EHTC 2008



Summary

• An efficient virtual prototyping of modern technical systems requires multi-domain simulation models.

• Set-up, parameterization, and validation of the sub-models is still done

within domain specific simulation tools such as DSHplus

• The standardized DSHplus-STC technology supports export and

integration of the sub-models to various targets such as Altair

MotionSolve, realized as co-simulation or as stand-alone black-box sub-model

• Using the tool package DSHplus and MotionSolve, an integrated

virtual prototyping at system level is easier than ever

EHTC 2008



Possible usage scenarios for DSHplus and DSHplus-STC with MotionSolve

DSHplus-View

DSHplus-View- Model set-up- Component libraries- Pre- and Post-Processing of simulation runs- Online monitoring for simulation-results

DSHplus-Solve

DSHplus-View DSHplus-Solve- Calculation kernel- Simulation model- Access to technology-specific auxiliary-functions

MotionSolve

MotionView

DSHplus-Solve

DSHplus-ViewDSHplus-

STC

DSHplus-SolveMotionSolve

MotionViewDSHplus-

STC

Stand-alone usage of

DSHplus

Usage of DSHplus-STC

in a multi domain simulation

EHTC 2008



Thank you for your attention!

Get a live demonstration at our booth

in the exhibition area.

DSH plus – STC · ADAMS Plug-In for DSH plus-STC 1996 Equation export to ACSL 1998 Air-Spring...

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