DOCSLIB.ORG

TLM) and Functional Mock-Up Interface (FMI

Total Page：16

File Type：pdf, Size：1020Kb

Download full-text PDF Read full-text
TLM) and Functional Mock-Up Interface (FMI Modeling, Identification and Control, Vol. 39, No. 3, 2018, pp. 179{190, ISSN 1890{1328 Composite modelling in 3-D mechanics utilizing Transmission Line Modelling (TLM) and Functional Mock-up Interface (FMI) Dag Fritzson 1 Robert Braun 2 Jan Hartford 1 1AB SKF, SE-415 50 G¨oteborg, Sweden. E-mail: [email protected] 2Link¨opingUniversity, SE-581 83 Link¨oping,Sweden. E-mail: [email protected] Abstract Composite modelling and simulation is a solution to utilize investments in models and tools, use the right tool for the right task, increase the accuracy by means of more accurate modelled boundary conditions, switch between levels in model complexity for a specific sub-system, and facilitate co-operation in orga- nizations. With the new Functional Mock-up Interface (FMI) standardization, efforts are increasing to make this happen. SKF BEAST is an advanced dynamic simulation tool for rolling bearings and other mechanical systems with contacts. The tool incorporates a framework for composite modelling and co- simulation, i.e., a Master Simulation Tool (MST). It uses Transmission Line Modelling (TLM) to ensure robust numerical behaviour of the complete composite system model and supports the Functional Mock-up Interface (FMI) for model import, including both model exchange and co-simulation. In this paper, the tools and the techniques for composite modelling are discussed in further detail and application examples are given. Keywords: Master Simulation Tool (MST), Functional Mockup Interface (FMI), Transmission Line Modelling (TLM), co-simulation, composite modelling, BEAST 1 Introduction simulate larger systems, and to analyze how different subsystems interact with each other. The need for composite modelling/simulation or co- It can be desirable to switch between models of dif- simulation arises from several different aspects. ferent complexity, and thus computation cost, for a First of all, different simulation tools are popular specific sub-system. within different organizations. Some tools may also be commonly used within certain technical disciplines or Finally, it can also improve accuracy of the results by engineering sectors. It is not uncommon that a specific allowing more realistic boundary conditions by means simulation tool becomes a de facto standard within a of simulating a larger system. This is especially suit- specific field, and there is a large investment in exist- able for simulation of rolling bearings, where realistic ing models and trained staff. Connecting different tools loading and motion are of great importance. with each other can facilitate cooperation between or- Tool coupling is often time consuming and requires ganizations and departments. highly specialized knowledge. For this reason, it is of- Another reason for connecting multiple simulation ten avoided and used only when absolutely necessary. tools is that different tools may be suitable for different Hence, it is important to minimize the workload and parts of the model. Co-simulation makes it possible to knowledge requirements in order to maximize the ben- doi:10.4173/mic.2018.3.4 c 2018 Norwegian Society of Automatic Control Modeling, Identification and Control efits. This requires a minimalistic coupling interface in this paper, this approach relies on rollback mecha- and an intuitive user interface. nisms. FMUs must be able to save and restore states Continuous-time simulation puts high demands on to previous communication points. This is often not numerical robustness. If numerical stability cannot be possible, due to limitations in the tools from where the guaranteed, simulation results cannot be trusted. The FMUs are exported. co-simulation framework must be able to simulate nu- A method for solver coupling using a predictor- merically stiff models without stability problems, or corrector method and relaxation techniques was pre- manual tuning of model parameters or solver settings. sented in (Schweizer et al., 2016). In this way, stable There is an evolving standard, Functional Mock-up co-simulation could be achieved for higher-order ex- Interface (FMI) (Functional Mock-up Interface (FMI)), trapolation of coupling variables. However, the correc- for encapsulation of models/tools. It specifies low-level tor step requires the FMUs to support solver rollback interfaces for connecting simulation tools. It does not to previous states. cover the system specific issues, i.e., master simulation The Transmission Line Modelling (TLM) method tool, or composite model building/editing. In order to enables numerically stable couplings using fixed-size provide maximum connectivity it is important to sup- communication delays (Johns and O'Brien, 1980; Aus- port FMI, while still providing easy-to-use composite lander, 1968). Co-simulation using FMI and TLM with modelling and also ensure simulation accuracy. synchronous communication has been investigated for Thus the main challenges in composite modelling Modelica (Modelica and the Modelica Association) and simulation are: models (Braun and Krus, 2013) and for connections between Hopsan (Hopsan project) and ADAMS (MSC • robust and numerical stable simulation, Adams; Braun et al., 2015). These experiments con- • parallel simulation of the complete composite firmed the feasibility of the concept, but does not pro- model, vide a general platform for FMI co-simulation. • support of FMI, 2.1 Discussion of related work • modelling on appropriate abstraction level, e.g., encapsulating low level details of FMI, and Roughly, there are two subgroups of master simulation tools. One that focuses mostly on the modelling, com- • easy-to-use tool for building composite models. putation, and communication aspects. The issues of numerical stability are not adressed, and left for the In the following sections the composite modelling user to solve. tool and the underlying technology is discussed. The other group tries to handle tightly coupled mod- Examples of industrial use-cases and demonstrators els as well. They typically rely on the FMI function- are given. They motivate the research and prove that ality for rejecting steps and supply of Jacobians. A it works in real applications. drawback is that the external simulation tools must support rejecting steps, which is not always the case. The same can be said for Jacobians, which also can be 2 Related work { FMI/TLM costly to compute. Several researchers have investigated master algo- Unlike these methods, the work in this paper is fo- rithms for co-simulation using FMI. cused on decoupling at the modeling level using TLM. A basic master algorithm was proposed by (Bas- Hence, time delays are inserted directly into the model tian et al., 2011). Master algorithms based on High- equations and no numerical decoupling algorithms are Level Architecture (HLA) have also been investigated required. (Elsheikh et al., 2013; Awais et al., 2013; Neema et al., The asynchronous transmission line modelling tech- 2014). All these implementations provides successful nique is employed to simulate the composite model in results for their respective test models. However, nei- a completely robust and parallel way. ther of them attempts to address the issues of numeri- FMI is supported by treating it just as an additional cal stability. generic simulation tool type. A wrapper is used to In (Schierz et al., 2012), a master algorithm for FMI encapsulate and translate to the low level details of using communication step size control was presented. the FMI model interface. Error estimation was used to adapt the communica- To provide easy to use tool support to build com- tion step, which provided significant improvements to posite models, a proven 3-D model editor is extended stability and performance. Unlike the work presented to support FMI external models and mixed models. 180 Fritzson et.al., \Composite modelling in 3-D mechanics utilizing TLM and FMI" 3 Composite model editor and For external models in FMI 2.0 (Functional Mock- master simulation tool up Interface (FMI)) format, both variants of FMI, i.e., model exchange and co-simulation, are sup- A co-simulation model is here denoted composite ported since December 2016. model, which consists of several interconnected external Alternatives based on XML or Modelica have been in- models, simulated independently in external tools. vestigated, but a small dedicated language was pre- To study and predict dynamic phenomena, one needs ferred in the end (Siemers, 2010). to use a dynamic simulation tool. One such tool is Among the ties, there is a 3-D mechanical bi- BEAST (Fritzson et al., 2014), which is a 3-D multi- directional TLM connector type. Thus, a single high body simulation tool specialized in detailed contact level connector type encapsulates 24 scalar variables calculations, making it a very efficient tool for rolling describing the motion and the loading in the tie. bearings and other machine elements where contacts A model with only external models is defined as a are important. \pure" composite model, whereas a model with both The tool simultaneously solves the dynamics of the internal components and external models is defined as multi-body system, the structural deformations, the a \mixed" model. thermal balance, and the local lubricated contact con- User defined parameters can be defined at different ditions. The tool is used for optimizing the product levels in the system model, and also as expressions of design, for evaluating performance under various appli- other parameters. The parameter look-up follows the cation conditions, and for advanced
Load more

Recommended publications
  • Hardware-In-The-Loop Simulation of Aircraft Actuator
    Hardware-in-the-Loop Simulation of Aircraft Actuator Robert Braun Fluid and Mechanical Engineering Systems Degree Project Department of Management and Engineering LIU-IEI-TEK-A{08/00674{SE Master Thesis LinkÄoping,September 3, 2009 Department of Management and Engineering Division of Fluid and Mechanical Engineering Systems Supervisor: Professor Petter Krus Front page picture: http://www.flickr.com/photos/thomasbecker/2747758112 Abstract Advanced computer simulations will play a more and more important role in future aircraft development and aeronautic research. Hardware-in-the-loop simulations enable examination of single components without the need of a full-scale model of the system. This project investigates the possibility of conducting hardware-in-the-loop simulations using a hydraulic test rig utilizing modern computer equipment. Controllers and models have been built in Simulink and Hopsan. Most hydraulic and mechanical components used in Hopsan have also been translated from Fortran to C and compiled into shared libraries (.dll). This provides an easy way of importing Hopsan models in LabVIEW, which is used to control the test rig. The results have been compared between Hopsan and LabVIEW, and no major di®erences in the results could be found. Importing Hopsan components to LabVIEW can potentially enable powerful features not available in Hopsan, such as hardware-in-the-loop simulations, multi-core processing and advanced plot- ting tools. It does however require fast computer systems to achieve real- time speed. The results of this project can provide interesting starting points in the development of the next generation of Hopsan. Preface This thesis work has been written at the Division of Fluid and Mechanical Engineering Systems (FluMeS), part of the Department of Management and Engineering (IEI) at LinkÄopingUniversity (LiU).
    [Show full text]
  • Aircraft System Simulation for Preliminary Design
    28TH INTERNATIONAL CONGRESS OF THE AERONAUTICAL SCIENCES AIRCRAFT SYSTEM SIMULATION FOR PRELIMINARY DESIGN Petter Krus, Robert Braun, Peter Nordin, and Björn Eriksson Linköping University, SE-58183 Linköping, Sweden [email protected] Keywords: aircraft conceptual design, system modeling, mission simulation Abstract subsystem as early in preliminary design as possible, and then use this model to develop the Developments in computational hardware and design further. In this way the simulation model simulation software have come to a point where becomes a point of convergence for the aircraft it is possible to use whole mission simulation in conceptual design as well as the conceptual a framework for conceptual/preliminary design. design of the subsystem as well as a tool for This paper is about the implementation of full further development in preliminary design. system simulation software for Using simulation performance conceptual/preliminary aircraft design. It is characteristics at the whole aircraft level can be based on the new Hopsan NG simulation evaluated very straightforwardly, and things like package, developed at the Linköping University. trim drag are accounted for as a byproduct. The Hopsan NG software is implemented in Furthermore, as the design progress into sub C++. Hopsan NG is the first simulation system design, systems such as actuation software that has support for multi-core systems, fuel systems etc, can also be included simulation for high speed simulation of multi and verified together in the actual flight profile. domain systems. Using simulation models of whole aircraft with In this paper this is demonstrated on a subsystems, it is then possible to do design flight simulation model with subsystems, such as analysis, e.g.
    [Show full text]
  • Arquitectura Para La Interoperabilidad De Unidades De Simulacion´ Basadas En Fmu
    ARQUITECTURA PARA LA INTEROPERABILIDAD DE UNIDADES DE SIMULACION´ BASADAS EN FMU Proyecto Fin de Carrera Ingenier´ıaInform´atica 16/02/2015 Autora: Tutores: S´anchez Medrano, Mar´ıadel Carmen Hern´andezCabrera, Jos´eJuan Evora´ G´omez,Jos´e Hern´andezTejera, Francisco M. Escuela de Ingenier´ıaInform´atica.Universidad de Las Palmas de G.C. Proyecto fin de carrera Proyecto fin de carrera de la Escuela de Ingenier´ıaInform´atica de la Universidad de Las Palmas de Gran Canaria presentado por la alumna: Apellidos y nombre de la alumna: S´anchez Medrano, Mar´ıadel Carmen T´ıtulo: Arquitectura para la interoperabilidad de unidades de simulaci´onbasadas en FMU Fecha: Febrero de 2015 Tutores: Hern´andezCabrera, Jos´eJuan Evora´ G´omez,Jos´e Hern´andezTejera, Francisco M. Escuela de Ingenier´ıaInform´atica.Universidad de Las Palmas de G.C. Dedicatoria A MI MADRE Y A MI PADRE Escuela de Ingenier´ıaInform´atica.Universidad de Las Palmas de G.C. Agradecimientos A mis tutores. A Jos´eJuan Hern´andezCabrera por su direcci´ony orientaci´onen este proyecto. Por ser un excelente mentor que ha permitido iniciarme en la l´ıneade investi- gadora y en el aprendizaje de otras filosof´ıasde programaci´on.A Jos´e Evora´ G´omezpor sus explicaciones y ayuda incondicional durante todo el desarrollo. A Francisco Mario Hern´andezpor darme la oportunidad de integrarme en este excelente equipo. A todo el grupo de profesores que me han instruido durante todos estos a~nosper- miti´endomeconseguir el objetivo deseado: ser ingeniera inform´atica. A todos mis compa~neros y amigos de carrera, en especial a Alberto y Dani.
    [Show full text]
  • Diplomarbeit Simulation Von Flugzeugsystemen Mit HOPSAN
    Diplomarbeit Department Fahrzeugtechnik und Flugzeugbau Simulation von Flugzeugsystemen mit HOPSAN Johannes Meier 10. August 2007 2 Hochschule für Angewandte Wissenschaften Hamburg Department Fahrzeugtechnik und Flugzeugbau Berliner Tor 9 20099 Hamburg Verfasser: Johannes Meier Abgabedatum: 10.08.2007 1. Prüfer: Prof. Dr.-Ing. Dieter Scholz, MS 2. Prüfer: Prof. Dr. Schulze Betreuer: Dr. Christian Müller Christian Matalla 3 Kurzreferat In dieser Arbeit wird das Simulationsprogramm Hopsan untersucht. Es ist ein Programm, das für die Simulation von hydraulischen Systemen entworfen wurde. Entwickelt wird es an der Universität von Linköping in Schweden seit 1977 und es ist für jedermann zugänglich. Ziel ist es die Eignung von Hopsan für die Simulation von verschiedenartigen Flugzeugsystemen zu überprüfen. Dabei wird auch auf die Theorie und die Handhabung eingegangen. Diese Arbeit ist in Teilen wie eine Bedienungsanleitung aufgebaut und soll den Einstieg in das Programm erleichtern. Mit Hilfe von Beispielen werden die Möglichkeiten von Hopsan aufgezeigt. Die Beispiele lehnen sich an hydraulische Flugzeugsysteme, Pneumatiksysteme und das Fahrwerk an. Zum Teil werden Ergebnisse von Simulationen mit denen von anderen Simulationspro- grammen verglichen. Die Arbeit mit diesem Programm hat gezeigt, dass die Bedienung ein- fach und schnell von statten geht. Der Vergleich von hydraulischen Systemen mit anderen Programmen ergab sehr ähnliche Ergebnisse. Weiterhin hat die Untersuchung gezeigt, dass Hopsan nur unter bestimmten Voraussetzungen für Pneumatiksysteme geeignete ist. 1 DEPARTMENT FAHRZEUGTECHNIK UND FLUGZEUGBAU Simulation von Flugzeugsystemen mit HOPSAN Aufgabenstellung zur Diplomarbeit gemäß Prüfungsordnung Hintergrund HOPSAN ist eine integrierte Umgebung zur Simulation von strömungsmechanischen Syste- men zur Leistungsübertragung. Ein System oder eine Komponente können vor dem Bau und der Inbetriebnahme getestet und analysiert werden.
    [Show full text]
  • A Novel Fmi and Tlm-Based Desktop Simulator for Detailed Studies of Thermal Pilot Comfort
    A NOVEL FMI AND TLM-BASED DESKTOP SIMULATOR FOR DETAILED STUDIES OF THERMAL PILOT COMFORT *Robert Hällqvist , **Jörg Schminder , *Magnus Eek , ***Robert Braun , **Roland Gårdhagen , ***Petter Krus *Systems Simulation and Concept Design, Saab Aeronautics, Linköping, Sweden **Applied Thermodynamics and Fluid Mechanics, Linköping University, Linköping, Sweden ***Fluid and Mechatronic Systems, Linköping University, Linköping, Sweden Keywords: OMSimulator, FMI, TLM, Pilot Thermal Comfort, Modelling and Simulation Abstract can be shifted to earlier design phases if detailed simulations of large portions of a complete Modelling and Simulation is key in aircraft sys- aircraft are feasible. However, in order to further tem development. This paper presents a novel, increase the use of M&S, and expand the scope multi-purpose, desktop simulator that can be of analysis using models, simulation of coupled used for detailed studies of the overall perfor- models developed in a wide variety of different mance of coupled sub-systems, preliminary con- tools need to be made available on the engineers’ trol design, and multidisciplinary optimization. and researchers’ desktop computers. Also, Here, interoperability between industrially rel- risks associated with tool-vendor lock-in and evant tools for model development and simu- licensing costs need to be kept at a minimum lation is established via the Functional Mock- if the benefits of M&S are to be further exploited. up Interface (FMI) and System Structure and Parametrization (SSP) standards. Robust and The ITEA3 financed research project Open distributed simulation is enabled via the Trans- Cyber Physical System Model-Driven Certified mission Line element Method (TLM). The ad- Development (OpenCPS) [1] aims to address the vantages of the presented simulator are demon- challenges identified by academia and industry strated via an industrially relevant use-case where in terms of efficient model integration and simulations of pilot thermal comfort are coupled simulation.
    [Show full text]
  • Distributed System Simulation Methods
    Linköping Studies in Science and Technology Dissertations No. 1732 Distributed System Simulation Methods For Model-Based Product Development Robert Braun Division of Fluid and Mechatronic Systems Department of Management and Engineering Linköping University, SE–581 83 Linköping, Sweden Linköping 2015 Copyright © Robert Braun, 2015 Distributed System Simulation Methods For Model-Based Product Development ISBN 978-91-7685-875-2 ISSN 0345-7524 Distributed by: Division of Fluid and Mechatronic Systems Department of Management and Engineering Linköping University SE-581 83 Linköping, Sweden Printed in Sweden by LiU-Tryck, Linköping 2015. To Emma Computers are useless. They can only give you answers. ” Pablo Picasso Abstract With the current trend towards multi-core processors and computer grids, parallelism in system simulation is becoming inevitable. Performing multi- ple tasks concurrently can save both time and money. However, this also puts higher demands on simulation software. This thesis investigates how simulation-based product development can benefit from distributed simulation. One parallelization method is to cut apart models for simulation with dis- tributed solvers by using time delays. The transmission line element method (TLM) is used, which eliminates numerical errors by introducing physically motivated time delays. Results show that linear speed-ups can be obtained for large models with balanced workloads. Different task scheduling techniques are tested. It is found that a fork-join algorithm with implicit synchronization performs best for models with a large total workload. On the other hand, a task-pool implementation with lock-based synchronization works better with smaller workloads. The distributed solver method virtually equals co-simulation between differ- ent simulation tools.
    [Show full text]
  • Metamodelling for Design of Mechatronic and Cyber-Physical Systems
    applied sciences Article Metamodelling for Design of Mechatronic and Cyber-Physical Systems Krzysztof Pietrusewicz West Pomeranian University of Technology, Szczecin, Sikorskiego 37, 70-313 Szczecin, Poland; [email protected]; Tel.: +48-663-398-396 Received: 30 November 2018; Accepted: 17 January 2019; Published: 22 January 2019 Featured Application: The presented results were used to design innovative mechatronic solutions: motion control algorithm of 5-axis feed drive “X-5” processing centre owned by the AVIA company, loading and forestry crane control system designed within the EU 7FP IAPP project called iLOAD. Abstract: The paper presents the issue of metamodeling of Domain-Specific Languages (DSL) for the purpose of designing complex mechatronics systems. Usually, one of the problems during the development of such projects is an interdisciplinary character of the team that is involved in this endeavour. The success of a complex machine project (e.g., Computer Numerically Controlled machine (CNC), loading crane, forestry crane) often depends on a proper communication between team members. The domain-specific modelling languages developed using one of the two approaches discussed in the work, lead to a machine design that can be carried out much more efficiently than with conventional approaches. Within the paper, the Meta-Object Facility (MOF) approach to metamodeling is presented; it is much more prevalent in modern modelling software tools than Graph-Object-Property-Relationship-Role (GOPRR). The main outcome of this work is the first presentation of researchML modelling language that is the result of more than twenty ambitious research and development projects. It is effectively used within new enterprises and leads to improved traceability of the project goals.
    [Show full text]
  • Structure Couplings in Hydraulic Percussion Units
    Engineering with Computers DOI 10.1007/s00366-016-0476-8 ORIGINAL ARTICLE A co‑simulation method for system‑level simulation of fluid– structure couplings in hydraulic percussion units Håkan Andersson1,2 · Peter Nordin3 · Thomas Borrvall4 · Kjell Simonsson2 · Daniel Hilding4 · Mikael Schill4 · Petter Krus3 · Daniel Leidermark2 Received: 3 December 2015 / Accepted: 8 August 2016 © The Author(s) 2016. This article is published with open access at Springerlink.com Abstract This paper addresses a co-simulation method for use of the Functional Mock-up Interface standard. A simple fluid power driven machinery equipment, i.e. oil hydraulic but relevant model is used to validate the method. machinery. In these types of machinery, the fluid–structure interaction affects the end-product performance to a large Keywords Co-simulation · Fluid–structure coupling · extent, hence an efficient co-simulation method is of high System simulation · Functional mock-up interface · Fluid importance. The proposed method is based on a 1D system power machinery · Transmission line modelling model representing the fluid components of the hydrau- lic machinery, within which structural 3D Finite Element (FE) models can be incorporated for detailed simulation 1 Introduction of specific sub-models or complete structural assemblies. This means that the fluid system simulation will get a more During the last years, the development of commercial soft- accurate structural response, and that the structural simu- ware suits for simulating Fluid–Structure Interaction (FSI) lation will get more correct fluid loads at every time step, problems has been substantial, and today FSI-functionality compared to decoupled analysis. Global system parameters exists in many simulation environments, e.g.
    [Show full text]
  • FMU-Proxy: a Framework for Distributed Access to Functional Mock-Up Units
    FMU-proxy: A Framework for Distributed Access to Functional Mock-up Units FMU-proxy: A Framework for Distributed Access to Functional Mock-up Units Hatledal,FMU-proxy: Lars Ivar and Zhang, A Framework Houxiang and Styve, for Arne Distributed and Hovland, Geir Access to Functional 79 Mock-up Units Lars Ivar Hatledal1 Houxiang Zhang1 Arne Styve2 Geir Hovland3 1Department of Ocean Operations and Civil Engineering, NTNU, Norway, {laht,hozh}@ntnu.no 2Department of ICT and Natural Sciences, NTNU, Norway, [email protected] 3Department of Engineering Sciences, UiA, Norway, [email protected] Abstract A model implementing the FMI standard is known as an Functional Mock-up Unit (FMU), and is distributed as The main goal of the Functional Mock-up Interface (FMI) a zip-file with the extension .fmu. This archive contains: standard is to allow simulation models to be shared across tools. To accomplish this, FMI relies on a combination • An XML-file that contains meta-data about the of XML-files and compiled C-code packaged in a zip model, named modelDescription.xml. archive. This archive is called an Functional Mock-up Unit (FMU) and uses the extension .fmu. In theory, an • C-code implementing a set of functions defined by FMU can support multiple platforms, however this is not the FMI standard. always the case and depends on the type of binaries the exporting tool was able to provide. Furthermore, a library • Other optional resources required by the model im- providing FMI support may not be available in a particular plementation. language, and/or it may not support the whole standard.
    [Show full text]
  • The Openmodelica Integrated Modeling, Simulation and Optimization Environment
    The OpenModelica Integrated Modeling, Simulation and Optimization Environment Peter Fritzson1, Adrian Pop1, Adeel Asghar1, Bernhard Bachmann1, Willi Braun2, Robert Braun1, Lena Buffoni1, Francesco Casella3, Rodrigo Castro6, Alejandro Danós6, Rüdiger Franke7, Mahder Gebremedhin1, Bernt Lie8, Alachew Mengist1, Kannan Moudgalya5, Lennart Ochel1, Arunkumar Palanisamy1, Wladimir Schamai9, Martin Sjölund1, Bernhard Thiele1, Volker Waurich4, Per Östlund1 1PELAB – Programming Environment Lab, Dept. of Computer and Information Science Linköping University, SE-581 83 Linköping, Sweden 2FH Bielefeld, Bielefeld, Germany 3Dept. Electronics and Information, Politecnico di Milano, Milan, Italy 4TU Dresden, Dresden, Germany 5IIT Bombay, Mumbai, India 6Dept. Computer Science, Universidad de Buenos Aires, Argentina 7ABB AG, DE-68309 Mannheim, Germany 8University of South-Eastern Norway, Porsgrunn, Norway 9Danfoss Power Solutions GmbH & Co. OHG, Offenbach, Germany [email protected], [email protected] Abstract OpenModelica have expanded enormously. The Open Source Modelica Consortium which supports the long- OpenModelica is currently the most complete open- term development of OpenModelica was created in source Modelica- and FMI-based modeling, simulation, 2007, initially with seven founding organizations. The optimization, and model-based development scope and intensity of the open source development has environment. Moreover, the OpenModelica gradually increased. At the time of this writing the environment provides a number of facilities such as consortium
    [Show full text]
  • Simulation Aided Design and Testing of Hydromechanical Transmissions 2C2-1
    Proceedings of the 9th JFPS International Symposium on Fluid Power, Matsue, 2014 Oct. 28 - 31, 2014 2C2-1 SIMULATION AIDED DESIGN AND TESTING OF HYDROMECHANICAL TRANSMISSIONS Karl Pettersson*, L. Viktor Larsson**, K. Viktor Larsson**, and Petter Krus** *Volvo Construction Equipment, Eskilstuna, Sweden, E-mail: [email protected] **Division of Fluid and Mechatronic Systems, Department of Management and Engineering, Linköping University, Sweden ABSTRACT This paper demonstrates the use of high-speed simulation in transmission conceptual design and presents a transmission test bed for hardware-in-the-loop simulations of hydromechanical transmission concepts. Complex transmissions, such as multiple-mode hydromechanical transmissions and hydraulic hybrid transmissions, present new difficulties and costs in the development process. There is today a greater demand for more efficient product development and more work has shifted towards simulation. The Hopsan simulation package allows robust, high-speed simulations suitable for both offline and hardware-in-the-loop simulation. New simulation models for hydromechanical transmissions are developed and used to simulate a known two-mode transmission concept. The same concept is also tested in hardware-in-the-loop simulations in the proposed transmission test bed. Results show good agreement with the hardware tests and highlight the proficiency of the simulation tools. KEYWORDS Hydromechanical Transmission, Hardware-in-the-loop, Hopsan NOMENCLATURE INTRODUCTION There is today an increased need for more efficient product development methods to shorten lead times and lower costs. One way to accomplish this is to shift devel- B Viscous friction opment work from prototype testing to simulation using D Hydraulic displacement model-based product development. This way, further F Force knowledge can be gained earlier in the development J Inertia process without physical testing and expensive prototype P Power demonstrators.
    [Show full text]
  • On the Modular Modelling for Dynamical Simulation with Application to Fluid Systems
    On the Modular Modelling for Dynamical Simulation with Application to Fluid Systems CARL-JOHAN SJÖSTEDT Licentiate thesis TRITA – MMK 2005:30 Department of Machine Design ISSN 1400-1179 Royal Institute of Technology ISRN/KTH/MMK/R-05/30-SE SE-100 44 Stockholm TRITA – MMK 2005:30 ISSN 1400-1179 ISRN/KTH/MMK/R-05/30-SE On the Modular Modelling for Dynamical Simulation with Application to Fluid Systems Carl-Johan Sjöstedt Licentiate thesis Academic thesis, which with the approval of Kungliga Tekniska Högskolan, will be presented for public review in fulfilment of the requirements for a Licentiate of Engineering in Machine Design. The public review is held at Kungliga Tekniska Högskolan, Machine Design, Brinellvägen 83, room A425 at 10.00, 2005-12-06 Abstract This licentiate thesis highlights some topics on modular modelling for dynamical simulation with application to fluid systems. The results are based on experience from the development of the fuel cell component simulation environment NFCCPP. The general application is cross-enterprise simulation of technical systems. There are four main topics: component definition including selection of interfaces, lumped modelling of fluid components, the use of dynamical equations to reduce simulation time in large systems and methods of to protect the intellectual property (IP) of a component. An overview of different dynamical fluid simulation tools such as HOPSAN, MATLAB/Simulink and Easy5 is presented. Special focus is on interfaces, where different approaches for representing interfaces are presented using an illustrative example. Selecting interfaces is however not a separated task from how to set up and solve the underlying equations, which also is shown.
    [Show full text]