Article | Proceedings of the 2nd Japanese Modelica Conference Tokyo, Japan, May 17-18, 2018 | Multibody simulation and control of kinematic systems with FMI/FMU Linköping University Electronic Press Conference Proceedings
Göm menyn

Title:
Multibody simulation and control of kinematic systems with FMI/FMU
Author:
Francois Chapuis: ANSYS Inc., France Jean Daniel Beley: ANSYS Inc., France Stephane Garreau: ANSYS Inc., France Olivier Roll: ANSYS Inc., France Tim Puls: ANSYS Inc., Germany Leon Voss: ANSYS Inc., Germany Sameer Kher: ANSYS Inc., USA
DOI:
10.3384/ecp18148262
Download:
Full text (pdf)
Year:
2018
Conference:
Proceedings of the 2nd Japanese Modelica Conference Tokyo, Japan, May 17-18, 2018
Issue:
148
Article no.:
036
Pages:
262-264
No. of pages:
4
Publication type:
Abstract and Fulltext
Published:
2019-02-21
ISBN:
978-91-7685-266-8
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

Our connected world and environment make us interact every day with very complex devices. Driving our cars, monitoring health using smart phones, the extensive use of robots are all applications which involve large quantities of embedded functions and physics. To design and simulate efficiently such systems, individual physics simulators are not sufficient and coupled simulations are required. A new standard called FMI (Functional Mock-Up Interface) [1] has been created, allowing to federate these interactions between a wide variety of physical, digital and reduced models, either through a co-simulation approach or through model exchange strategy using a standardized and neutral interfacing mechanism. In this article, we illustrate through an example how it’s possible to simulate mechanical assemblies, kinematics, dynamics and control systems in the same system model. Each mechanical sub-assembly is represented by a FMU (Functional Mock-Up Unit) exported from a multibody dynamics solver and includes a mix of rigid and flexible components. Flexible components are reduced order models of the full fidelity finite element model using the well-known CMS (Component Mode Synthesis) method. [2]

We apply the coupling through the FMI standard to a robot model, composed of rigid parts and one flexible sub-assembly. The highly non-linear behavior of the equations of motion of the multibody assembly is captured and consumed as a co-simulation FMU. The actuators detailed model – from the voltage source to the electric motors – are modeled in the system simulation platform ANSYS Twin Builder, while the control loops use SCADE which offers different control laws. The co-simulation of these 3 sub-systems can then be performed in an efficient manner, without the prerequisite of having on-off coupling developed between each of the individual simulators.



Keywords: FMU, multibody dynamics, CMS, actuator, control

Proceedings of the 2nd Japanese Modelica Conference Tokyo, Japan, May 17-18, 2018

Author:
Francois Chapuis, Jean Daniel Beley, Stephane Garreau, Olivier Roll, Tim Puls, Leon Voss, Sameer Kher
Title:
Multibody simulation and control of kinematic systems with FMI/FMU
DOI:
http://dx.doi.org/10.3384/ecp18148262
References:

[1] fmi-standard.org

[2] Component Mode Synthesis, Jaap Wijker, in Mechanical Vibrations in Spacecraft Design, pp 369-398 Springer, Berlin, Heidelberg

[3] Nonsmooth Mechanics, Models, Dynamics and Control. Third Edition. Bernard Brogliato, Springer, Berlin, Heidelberg

Proceedings of the 2nd Japanese Modelica Conference Tokyo, Japan, May 17-18, 2018

Author:
Francois Chapuis, Jean Daniel Beley, Stephane Garreau, Olivier Roll, Tim Puls, Leon Voss, Sameer Kher
Title:
Multibody simulation and control of kinematic systems with FMI/FMU
DOI:
https://doi.org10.3384/ecp18148262
Note: the following are taken directly from CrossRef
Citations:
No citations available at the moment


Responsible for this page: Peter Berkesand
Last updated: 2019-06-04