Modelling Solutions Claytex Modelling Solutions | www.claytex.com
Claytex - Software, Consultancy, Training Introduction
Claytex is an engineering consultancy that specialises in In today’s automotive companies Modelica enables a single on this standard we can easily the discipline of systems model to include mechanics, couple plant models developed systems engineering, modelling and simulation. Our core engineering is growing rapidly electrical, thermal, fluid and in Dymola and controller models competency is in the modelling and simulation of complex in importance and it is common control systems. This enables developed in Simulink. This multi-domain systems, such as cars and aircraft, using practice to use many different the interactions of these systems approach enables the model models and simulation tools to be captured in the model development in Dymola to Dymola and Modelica. to support this process. These and therefore the design of focus on delivering high quality tools rarely interoperate and the complete system can be physical models and control there is usually no model optimised rather than working engineers to continue working that represents the complete on each domain in isolation. on the development of the behaviour of the vehicle. control system using Simulink. The FMI standard is an open What makes the situation worse standard for model exchange is that this lack of interoperability and co-simulation. Building means that departments working on different aspects of the vehicle will all have to spend time creating models of the parts of the vehicle they are not responsible for. This means there is a large duplication of effort and wasted resource.
Claytex is a specialist partner Claytex is based in Royal Claytex also develops a number At Claytex we believe there is a for Dassault Systèmes focusing Leamington Spa (UK) and we of Modelica application libraries better way by using simulation on their range of products for have been working with Dymola and FMI based tools. Our tools that are built on open systems engineering. These and Modelica since 1999 on Modelica solutions are for standards and allow the whole include Dymola, Reqtify, CATIA a wide variety of customer modelling engines, powertrains, vehicle to be modelled in one Systems, AUTOSAR Builder and projects. These include the vehicle dynamics and flexible environment. ControlBuild. Our customers modelling of Low Carbon bodies. The FMI Blockset for include some of the worlds most Vehicles, Formula 1, IndyCar and Simulink has been developed to respected Automotive, Motorsport, NASCAR Sprint Cup racing cars. enable Simulink users to import Aerospace and Energy companies. models that are developed to be compliant with the FMI standard.
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Vehicle Dynamics
With Modelica based solutions Passenger cars Motorsport Driver-in-the-Loop The rFactor Pro Terrain Server Ask for further information. for vehicle dynamics, engineering The comprehensive range of The motorsport solutions provide simulators can also be coupled to vehicle Modelling tools teams can develop models that models enables the suspension to highly optimised models for a Working with our partners, Claytex dynamics models running in n Dymola include all the relevant vehicle be represented using tables, as a wide range of series and is already have developed tools to integrate Dymola. This enables the same n CATIA Systems systems. An extensive library of kinematic system or as an elasto- used by Formula 1, IndyCar and the vehicle dynamics solutions track data, including the full high- with driver-in-the-loop simulators. experiments can then be used to kinematic system. NASCAR teams. definition point cloud data, to be Modelica libraries develop and test the vehicle Our Simulator library provides used in desktop simulations as well This range of model fidelity These solutions enable n Vehicle Dynamics Library design using desktop simulation, an interface to rFactor Pro with as in the driving simulator. enables the same family of models MultiBody suspension models, n VDLMotorsports Library real-time Hardware-in-the-Loop functions to export a model from to be used throughout the vehicle including compliance effects, to n Terrain Server Library and Driver-in-the-Loop simulators. Dymola ready for use in PTWinSim development process. The be run in real-time to support n Simulator Library and McLaren Electronics vTAG. A whole vehicle model development of active systems HiL and DiL applications as well n FlexBody Library architecture underpins the is supported by the provision of as being exported as c-code for approach making it easy to plug- models for ABS, stability control use in trackside tools and lapsim and-play different levels of model and active safety. applications. fidelity to suit the requirements Quarter-car, half-car and at all stages of the process. The full vehicle experiments with open and extendible Modelica open and closed loop driver model libraries allow you to easily models enable a full range of build on the provided models to virtual testing. The full vehicle incorporate your own designs and experiments include the technology. capability to define scenarios with 3D road geometry, obstacles and other vehicles to support the development of active vehicle systems.
Key Features
n Modular vehicle model architecture
n Table based, kinematic and elasto-kinematic suspension models
n Real-time capable Multibody models for use in HiL and DiL systems
n Tyre models include Pacejka 94 and 2002, Rill, and an interface to the TNO MF-Tyre and MF-Swift models
n Multi-domain models allowing the incorporation of hybrid powertrains and active vehicle systems
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Hybrid Vehicles
As the complexity of today’s Hybrid electric powertrains Motorsport Road vehicles Performance and drive Ask for further information vehicles increases, and the move A range of electric motors The electric drives and controller Easy to configure powertrain and cycle analysis Modelling tools towards hybridised technologies both physical and table based, models support motorsport ancillary hybridisation with multiple Hybridised subsystems can be n Dymola progresses, the expanding range converter, inverter and buck- applications. For example, the scenarios investigated through integrated with the Powertrain n CATIA Systems of Modelica solutions provides boost models are found within complete 2014 Formula 1 car has plug and play of subsystems and Dynamics solutions to study models for Electric Motors/ the Modelica libraries. Supporting been modelled to understand related controllers within the the performance, economy and Modelica libraries Generators, Power Electronics, both DC and AC configurations interactions between all the vehicle architecture. Investigation driveability of the whole vehicle n Engines Library Fuel Cells and Batteries. with AC motor-generators from 3 electrical components, the cooling of a hybrid concept showed that in a range of configurable n Powertrain Dynamics Library phase to n-phase. system and internal combustion an efficiency increase of 17% of the scenarios. n Vehicle Dynamics library Whole vehicle model integration engine. Energy Recovery System whole electric drive leads to a fuel n Smart Electric Drives Library down to individual component Field orientated control modules investigations related stored saving of the hybrid vehicle of 13%. To include lateral dynamics, n Energy Storage Library virtual testing and validation is are available for advanced energy deployment strategies This demonstrates the important Hybrid vehicle models are controller modelling. Converters Process tools the environment in which the combined with the Vehicle to performance and thermal role of simulation in the design n Reqtify engineer can design the Hybrid and inverters range from space- management. and development of the electric Dynamics solutions and future. The open and extendible phasor to lossy switching drivetrain. With the model libraries exercised over a range of Modelica model libraries allow representations including physical A similar study into LMP (Le available all components of the customisable manoeuvres, roads you to easily build on the provided thermal coupling to the ambient Mans Prototype) hybrid race electric drivetrain, such as energy and tracks. models to incorporate your and the cooling systems. cars focused on maximising the storages, power electronics, own designs and technology. In powertrain efficiency to deliver Transmission line ripple and controls and electric machines can addition, full support for the FMI reductions in fuel consumption resonance effects are represented be simulated. and improve the overall vehicle standard allows models from through open modelling of cables performance. Road vehicles other development tools to be and their insulation including Batteries and Energy coupled together. inductance and resistance effects. Storage Electrical energy storage device sizing and replaceable cell chemistry characteristics allow investigations of the best battery configuration for specific applications. Building of battery packs is made Key Features easy with scalable models n Simulation of energy storage, converters (incl. power electronics) and for both parallel and series controls for electric machines cell configurations. Thermal
n Simulation of transient effects in Electric Drives interaction of cells is modelled to understand the cooling n Development and optimisation of control strategies requirements of the cells
n Range of model complexities and packs.
n Ideal for simulation of hybrid electric vehicles and new alternative concepts with electrical auxiliaries
n Efficiency prediction at component and overall system level
n Motor generators can be modelled using maps, Quasi Stationary and Transient capable physical representation (fully electrical/electrical + magnetics). four five Claytex Modelling Solutions | www.claytex.com
Thermal Management
Efficient management of cooling expansion valves. The tools are We are able to investigate and and heating is key to guaranteeing used as standard by German OEMs choose the most suitable optimal component performance including Daimler, BMW, Audi and component specifications for each and reducing waste energy in VW. The HVAC system can be application. vehicle systems. The wide range coupled to cabin models to predict Heat pumps of Modelica thermal management Human Comfort. Heat pumps are investigated to solutions allows the modelling of Human comfort and cabin optimise cooling and heating of such systems and analysis of the modelling components within the vehicle efficiency of the entire system and Occupant comfort is enhanced systems whilst minimising energy its parts. by investigating and selecting wastage. Heat pumps are coupled HVAC specific materials for the glazing, to various vehicle subsystems Today’s focus is on reducing insulation, panel coatings to investigate the benefits energy consumption and and partitions as well as the of heat recovery via multiple understanding the best possible introduction of contact heating configurations. The prediction way of recovering waste energy and cooling. Weather models are of the efficiency of each and reusing it elsewhere in the included in the system to define configuration can be used in cost- system for a variety of applications. environmental conditions. The benefit analyses when selecting In the Automotive sector, the user is then able to quantify the new technological features to improvement in efficiency of amount of electrical, thermal and implement. the HVAC system will not only mechanical energy required to require we maintain occupant achieve the occupant comfort comfort but also reduce the targets that have been set. energy consumption of the system Drive systems enabling the more stringent Thermal management of electrical overall vehicle targets to be drives and electrical energy storage met. We model the entire HVAC is investigated from a component system including heat exchangers, by component basis to an whole receiver driers, compressors and Internal combustion Ask for further information integrated system approach. engines and drivetrain Modelling tools Key Features With the increasing trends in We model the heat rejection from n Dymola n Modular architectures hybridisation of systems, thermal internal combustion engines n CATIA Systems n management of electrical systems Physical systems model integration transmissions and drivetrains to can ensure optimal performance Modelica libraries n Heat exchanger sizing and stack design investigate warm up performance and efficiency within operating n Air Conditioning library n Energy flow modelling of both coolant and lubricant environments. Heat exchanger n Heat Exchanger library n Heat pump modelling models. The coolant and lubricant sizing and positioning and their n Liquid Cooling library warm up dynamics are seamlessly n HVAC interaction with other parts of the n Human Comfort library coupled to the mechanical n Human Comfort system form an important part of n Energy Storage library systems to predict thermal and the overall design and development mechanical efficiencies. Process tools of the vehicle. n Reqtify
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Claytex Modelling Solutions | www.claytex.com
Powertrain Dynamics
As the complexities of today’s Hybrid electric powertrains Driveability Torsional and mount Performance and drive Ask for further information Powertrain continues to vibrations cycle analysis The successful integration of Full MultiBody powertrain models Modelling tools increase, the range of Modelica the Hybrid components plays coupled with engine models that Mount vibrations due to uneven Vehicle longitudinal performance n Dymola solutions available is expanding a key role in understanding include air-flow and transient roads and driving manoeuvres can be easily assessed including n CATIA Systems to provide models for Engines, and developing controllers to effects enable driveability to be are modelled through flexible traction limits, gearshift events, Transmissions, Drivelines, Electric Modelica libraries guarantee optimal functionality of predicted and assessed vs. targets. mount models ranging from pitching and aerodynamic losses. Motors/Generators, Power n Engines Library the vehicle whatever this vehicle The libraries allow the user to set linear elastic to fully non-linear A wide selection of transmissions Electronics and Batteries. n Powertrain Dynamics Library application might be. From table up and perform any driveability frequency dependant versions. and engines with different levels n Smart Electric Drives Library A whole vehicle model based to physical magnetics test and modal (frequency) Crank angle resolved engine of fidelity can be seamlessly n Energy Storage Library architecture underpins the representations of motors, the analysis of the system to identify models are used to introduce plugged into the vehicle n Hydraulics Library approach making it easy to plug- user can decide what level of which parts require a redesign to cyclic torque pulsations to analyse architectures to build a wide range and-play different levels of model detail is required for the study and avoid undesirable effects such the propagation of the pulsations of specifications. Process tools fidelity to suit the requirements select the appropriate models. through the transmission devices n Reqtify as NVH boom, driveline shuffle Vehicles are run on drive cycles at all stages of the process and Converter, inverter and buck- and throughout the driveline. and differential modes. Lash which can be predefined or to cover a wide range of variants boost models are also included in Single and dual mass flywheels and compliance modelling are custom designed. The same using a common structure. The the libraries. as well as balancer shaft effects available in all joints, bearings, vehicle model is used in backward open and extendible Modelica on mount vibration are also Please see the section “Hybrid gear pairs and shafts. Shafts can and forward facing simulations model libraries allow you to easily modelled. Vehicles” for more information. also be configured to model without the need to change the build on the provided models to plastic deformation. vehicle model or rearrange the incorporate your own designs Launch and shift quality are subsystems. Fuel economy and and technology. In addition, assessed thanks to the availability emission predictions are possible full support for the FMI standard of a range of wet and dry clutch by selecting appropriate allows models from other models and steady state and engine models. development tools to be coupled dynamic torque converter models. together.
Key Features
n Modular vehicle model architecture
n Engines can be modelled using maps, as a mean value or crank angle resolved model with air-flow
n Transmission models from simple prescribed ratio to full multibody with bearing, shaft and gear meshing models
n Driveline models including mounts (rigid, compliant, hydrodynamic)
n Chassis and tyre models
n Differential and PTO models
n Shift quality modelling
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Control Systems Engineering
With solutions covering Developing control systems engineering tools. This makes sure Control strategy FMI support Ask for further information requirements traceability, control with ISO26262 that requirements aren’t missed development and validation All our solutions include support Modelling tools system development and physical and that the whole development Tracking and tracing your Based on a model-driven for the Functional Mock-up n Dymola modelling we can help improve process is properly documented requirements from the initial approach and supported by Interface (FMI) standard. This n CATIA Systems the whole control systems to meet the development requirement through the many a structured set of libraries, allows our solutions to import n FMI Blockset for Simulink engineering process. standards. levels of documentation required our solutions can be used to and export models compatible n AUTOSAR Builder by an ISO26262 driven process can Connections to the engineering efficiently model, simulate, test, with this standard making it easy n ControlBuild occupy a lot of engineering time. tools means that the project validate and deploy control to bring together models from a n Reqtify information is kept up to date and applications. large range of engineering tools. Using our solutions you consistent with the current state can automate the tracing of Developing the control system This promotes the reuse of of development. information between different in the context of a plant model existing models from other helps engineers to understand departments allowing you to and interpret dynamic systems focus effort on the aspects of the specifications. With a range of vehicle development that are your different detail levels available in responsibility rather than using the plant models we can support time and energy duplicating work the development of the control that should be done by other system at every stage in the groups. design process. Photos courtesy of dSPACE Photos courtesy of Through the use of block diagrams, state charts, physical models and graphical systems animations, software developers, hardware engineers and management are able to communicate and exchange their requirements, design choices and understanding Key Features
n Block diagram modelling methodology
n Automatic model inversion for complex controller design
n Model linearization and analysis tools
n Automatic tracing of requirements, specifications and implementations
n Simulink interface and HiL support
n FMI standard
n Generation of AUTOSAR compliant software
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Dymola and CATIA Systems
Dymola, Dynamic Modelling Multi-engineering Intuitive modelling Modelica libraries “For the Low Carbon Vehicle Technology Project, Laboratory, is a modelling and Dymola has unique multi- The component orientated Developed by domain specialists, simulation solution for complex, we have selected Dymola as the common engineering capabilities which modelling approach enables the the Modelica application libraries multi-domain systems using means that models can consist engineer to quickly and easily are used in conjunction with plant modelling tool. The project will provide an a convenient, component of components from many create a schematic of the system Dymola or CATIA Systems orientated physical modelling opportunity for partners to evaluate its capability engineering domains. This allows being developed. The libraries to quickly and easily model approach. for models of complete systems include elements corresponding and simulate the behaviour to model mechanical, electrical and thermal CATIA Systems integrates that better depict reality. to physical devices which are of complex systems that span the Dymola technology into simply dragged-and-dropped multiple engineering disciplines. properties of hybrid electric vehicle systems.” The Systems engineering the 3DEXPERIENCE platform to build the model. Interactions capabilities of Dymola empower Generates real-time Ross McMurran, Manager - Embedded Systems Group, WMG providing the same multi- between the components are you to model and simulate any simulation code domain modelling and simulation conveniently described by physical component that can be capabilities connected to the rest graphical connections that model Dymola can generate simulation described by ordinary differential of the PLM tools. the physical coupling of the code suitable for real-time equations and algebraic components. This means that simulation on a variety of Modelica provides the core equations. “In addition to the component library, we selected modelling language used to models are intuitively organised platforms. Dymola uses inline define the models and Dymola Multi-domain simulation as the same way as the physical integration coupled with symbolic Dymola because it is one of the fastest and most standard provides open access to the system is composed. manipulation to generate simulation code optimised for user-friendly programs on the market.” language. The extensive range The Modelica language has Open and flexible use with fixed step simulation of model libraries means that been developed to support Tomas Eriksson, Deputy CEO, Optimation Dymola is used across many the convenient, component The Dymola environment is environments. Inline integrations different industries including orientated modelling of complex completely open in contrast to means that the solver equations Automotive, Aerospace, Energy multi-domain systems. Libraries many modelling tools that have are combined with the model and High tech. in many different engineering a fixed set of component models equations and symbolically domains are available that contain and proprietary methods for manipulated. This approach Full support for the FMI standard components for mechanical, introducing new components. enables MultiBody vehicle means Dymola models can electrical, control, thermal, Users of Dymola can easily dynamics models to be run in be easily exported for use in pneumatic, hydraulic, powertrain, introduce components that match real-time for use with driving other simulation tools that thermodynamics, vehicle the user’s own unique needs. This simulators. also support this standard. dynamics, air-conditioning, etc. can be done either from scratch Similarly, Dymola can import FMI or by using existing components compliant models for use in a as templates. The open and Modelica systems model. flexible structure makes Dymola an excellent tool to simulate new or alternative designs and technologies.
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Reqtify
Reqtify is an interactive By keeping engineers focused Standalone or as part Connects to your existing requirement traceability and on their everyday work, with of the 3DEXPERIENCE engineering tools impact analysis tool that can a minimum effort to manage Platform The rich Reqtify solution trace a requirement from system, requirement traceability on their Reqtify can be deployed either environment enables programme and project levels development and verification as a standalone solution with requirements to be attached to all levels of your software workbenches, Reqtify is very integration to more than 60 directly to product and systems or hardware development quickly adopted and easy to common systems engineering artifacts, both within the lifecycle. Reqtify can interface to integrate and deploy to all solutions, or as part of a 3DEXPERIENCE Platform and requirement-related information engineering teams. 3DEXPERIENCE Platform solution across more than 60 different in a wide variety of data formats, Several major accounts are that supports the import of systems engineering tools. document types and file formats. using tools like DOORS™, requirements from other sources Powerful filtering capabilities Reqtify provides the most effective RequisitePro™, CaliberRM™, at in order to leverage the Traceable are provided to support the and easy-to-use solution that system level to write requirements Requirements Management management of different product captures requirements from any and are deploying Reqtify on process and other platform lines and organise requirements source and maintains traceability all projects for traceability applications. and documents per product and impact analysis across automation, impact analysis and configuration. Qualifiable according to the development of complex report generation. Integrating certification standards The unique Reqtify impact analysis products and systems. Reqtify in a process does not take and traceability solution captures long, usually less than one day, Qualification means agreement Easy to integrate and systems or software engineering ensuring effective ROI as soon from Certification Authorities deploy Key Features artifacts (requirements, design as the first documentation gets to reduce or replace manual n Capture requirements at any level elements, test cases, change Reqtify captures the traceability generated! activities by tool results and requests, etc.) from any source to information inserted in all n Intuitive, and easy requirements capture from word or pdf documents verifications. provide a complete traceability interfaced tools, with no need n Coverage of analysis and traceability Reqtify complies with the most view of your projects. Captured for import in a database nor for n Management of requirement changes and lifecycle information demanding quality standards: artifacts can also be transferred to any synchronisation procedure. n Upstream and downstream impact analysis for regression risk management CMMI, SPICE, DO178B and any other source without loss of This unique capability allows DO254 for Aeronautics, IEC61508 n Automated, customisable, report generation meaning. Reqtify to fit existing requirement and EN5012x for Railway management processes and can Transportation and FDA for even be deployed on on-going Medical. It has also been qualified projects. in the AIRBUS process for A380 & A340 projects.
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ControlBuild AUTOSAR Builder
ControlBuild delivers an innovative Based on a model-driven AUTOSAR Builder offers model driven systems engineering approach and supported by a complete development Key Features environment for designing and a structured set of libraries, environment built on an open n Manages and minimises plant commissioning risks validating industrial automation, ControlBuild is used to efficiently Eclipse based Artop development train and railway control systems, model, simulate, test, validate platform that allows users to n Facilitates easy maintenance of control software that comply with standards such and deploy IEC 61131-3 control develop AUTOSAR compliant n Supports industry safety related standards such as SIL2, EN50123, IEC61508 as EN50128 and IEC 61131- 3. applications. systems models and to then n Full support for MIL, SIL and HIL simulations that can be easily scaled All stages of the development By modelling the control system generate embedded code from process are addressed through in the context of a model of the these models. system design, PLC & DCS tasks plant (i.e. the physical equipment, AUTOSAR Builder is an open, allocation, automatic code actuators & sensors), ControlBuild flexible and powerful modelling generation, integration testing and helps engineers to understand and and simulation toolset for the Embedded electronic operator training. communicate around dynamic development and verification architecture design systems specifications. of automotive electrical and ControlBuild is developed to Design, decompose and re-use electronic systems and their meet the needs of systems Through the use of graphical complex embedded systems associated embedded software. It integrators, OEMs, prime systems animations, software that are derived from customer fully supports AUTOSAR concepts contractors, system engineering, developers, electrical engineers, functions and decomposed and standards, including: construction and consulting firms. test & commissioning engineers to detailed logical systems AUTOSAR System, AUTOSAR It provides a comprehensive tool and plant operators are able to architecture definitions suite dedicated to modelling, communicate and exchange their Software Components, AUTOSAR simulation and development of requirements, design choices Virtual Functional Bus, AUTOSAR industrial plant automation and and understanding. All issues and Electronic Control Units (ECU) electronic embedded systems – errors can be readily identified hardware resources, AUTOSAR from definition and validation of and eliminated early in the project Real-Time Environments and ECU specification to implementation development cycle configuration. and deployment.
Key Features
n Manages and minimises plant commissioning risks
n Facilitates easy maintenance of control software
n Supports industry safety related standards such as SIL2, EN50123, IEC61508
n Full support for MIL, SIL and HIL simulations that can be easily scaled
sixteen Claytex Services Limited Edmund House Rugby Road Leamington Spa CV32 6EL UK Tel: +44 1926 885900 Fax: +44 1926 885910 Email: [email protected] ModellingWeb: www.claytex.com Solutions
‘Claytex’ means Claytex Services Limited. Claytex Services Limited is a company registered in England and Wales with company number 3539836 whose registered office is Edmund House, Rugby Road, Leamington Spa, CV32 6EL, UK.
Copyright © 2014, Claytex Services Limited
Dymola, CATIA and SIMULIA are registered trademarks of Dassault Systèmes or its subsidiaries in the US and/or other countries. Modelica is a registered trademark of the Modelica Association in the US and in Europe. Simulink is a registered trademark of The Mathworks Inc. The names of other software tools and Modelica libraries referenced in this brochure www.claytex.com may be trademarks or registered trademarks of the respective developer.