Article | Proceedings of the 11th International Modelica Conference, Versailles, France, September 21-23, 2015 | Suitability of Different Real-Time Solvers for a Model-Based Engineering Toolchain using Industrial Rexroth Controllers
Göm menyn

Title:
Suitability of Different Real-Time Solvers for a Model-Based Engineering Toolchain using Industrial Rexroth Controllers
Author:
Nils Menager: Bosch Rexroth AG, Lohr a. Main, Germany Rüdiger Kampfmann: Bosch Rexroth AG, Lohr a. Main, Germany Niklas Worschech: Bosch Rexroth AG, Lohr a. Main, Germany Lars Mikelsons: Bosch Rexroth AG, Lohr a. Main, Germany
DOI:
10.3384/ecp15118883
Download:
Full text (pdf)
Year:
2015
Conference:
Proceedings of the 11th International Modelica Conference, Versailles, France, September 21-23, 2015
Issue:
118
Article no.:
096
Pages:
883-891
No. of pages:
9
Publication type:
Poster
Published:
2015-09-18
ISBN:
978-91-7685-955-1
Series:
Linköping Electronic Conference Proceedings
ISSN (print):
1650-3686
ISSN (online):
1650-3740
Publisher:
Linköping University Electronic Press, Linköpings universitet


Export in BibTex, RIS or text

Due to the increasing complexity of technical systems, model-based engineering is getting more and more important during the development process of new products. The code generation from models and the usage of this code on hardware targets is one important feature of model-based development. To execute this code on the hardware device, a simulation runtime is additionally required, which offers numerical methods to solve the model equations. To use generated code on a controller, the simulation has to be executed in real-time, which is a huge requirement for the solver. In this work, a Modelica-based open source toolchain for model-based engineering with Rexroth controllers is presented, which is used for virtual commissioning of a typical hydromechanical system on a standard Rexroth PLC. Therefore, instead of parameterizing the controller directly on the real system, the control algorithm on the PLC is connected to the system model, which is additionally executed on the controller in parallel to the existing PLC application. Doing this, the commissioning times can be reduced significantly, as the commissioning process can already be started during the build-up of the system using a simulation model of the system. As hydro-mechanical systems are in general mathematically stiff, the choice of the solver for the system model equations is not arbitrary. In this work, five different real-time solvers, beginning with a simple explicit Euler through to more complex linearly implicit methods, are tested on a single hydraulic axis. Furthermore, typical issues like state events as well as algebraic loops are discussed in context of real-time simulation requirements.

Keywords: Real-time simulation; Modelica; Hardware-In-The-Loop; code generation; model-based engineering; real-time solver

Proceedings of the 11th International Modelica Conference, Versailles, France, September 21-23, 2015

Author:
Nils Menager, Rüdiger Kampfmann, Niklas Worschech, Lars Mikelsons
Title:
Suitability of Different Real-Time Solvers for a Model-Based Engineering Toolchain using Industrial Rexroth Controllers
DOI:
http://dx.doi.org/10.3384/ecp15118883
References:

W. Braun, S. Gallardo-Yances, K. Link, and B. Bachmann. Fast simulation of fluid models with colored jacobians. In Proceedings of the 9th Modelica Conference, Munich, Germany, Modelica Association, 2012.


F. E. Cellier and E. Kofman. Continuous System Simulation. Springer, 2006.


E. Engels and T. Gabler. Universelle Programmierschnittstelle f√ľr Motion-Logic Systeme. In Struktur, Funktionen und Anwendung in Forschung und Lehre, Tagungsband AALE, 2012.


E. Hairer and G. Wanner. Solving Ordinary Differential Equations II - Stiff and Differential-Algebraic Problems. Springer, 2002.


A. Hofmann, S. Schweig, and L. Mikelsons. Virtuelle Inbetriebnahme mechatronischer Systeme unter Einbeziehung realer Industriesteuerungen von Bosch Rexroth. In Tagungsband Mechatronik 2015, VDI Mechatroniktagung 2015 am 12.-13. März 2015 in Dortmund, 2015.


J. Lang and J. Verwer. ROS3P - an accurate third-order Rosenbrock solver designed for parabolic problems. BIT Numerical Mathematics, 41(4):731‚Äď738, 2001.

Proceedings of the 11th International Modelica Conference, Versailles, France, September 21-23, 2015

Author:
Nils Menager, Rüdiger Kampfmann, Niklas Worschech, Lars Mikelsons
Title:
Suitability of Different Real-Time Solvers for a Model-Based Engineering Toolchain using Industrial Rexroth Controllers
DOI:
http://dx.doi.org/10.3384/ecp15118883
Note: the following are taken directly from CrossRef
Citations:
No citations available at the moment


Responsible for this page: Peter Berkesand
Last updated: 2017-02-21