Modelling Electromechanical Systems FromMultiple Perspectives (original) (raw)
A Comparison of Different Methods for Modelling Electromechanical Multibody Systems
Multibody System Dynamics, 2000
Procedures for modelling multibody systems are well known and many formulations and tools are available for these types of systems. For several years, emphasis has been placed on the modelling of electromechanical systems, particularly multibody systems, such as robots, which are driven by electrical actuators. In this paper, three different unified modelling strategies, based on the virtual work principle, linear graph and bond graph theories, are presented and compared. Three examples, including non-academic applications, illustrate this comparison.
Modelling of physical systems for the design and control of mechatronic systems
Annual Reviews in Control, 2003
Mechatronic design requires that a mechanical system and its control system be designed as an integrated system. This contribution covers the background and tools for modelling and simulation of physical systems and their controllers, with parameters that are directly related to the real-world system. The theory will be illustrated with examples of typical mechatronic systems such as servo systems and a mobile robot. Hands-on experience is realised by means of exercises with the 20-sim software package (a demo version is freely available on the Internet).
Model-based Approach to Development of Engineering Systems
Acta Mechanica Slovaca
His research interests include human biomechanics, medical sensorics, medical thermography and rehabilitation technology. Today he is head of head of Department of Biomedical Engineering and Measurement. Since 1998 he is an expert witness in machine and electrical technology. Professor has more than 280 publications in home and foreign journals. He is an author and coauthor of 9 monographies and 12 books.
Modeling and Simulation of Dynamic Mechanical Systems Using Electric Circuit Analogy
Turkish Journal of Engineering, 2021
Modeling and simulation are prerequisite to analysis and design of engineering systems. Modern engineering systems often are multy disciplinary, i.e., may include blocks from different majors of engineering, such as electrical, mechanical, fluid, etc. Availability of a unified approach for system modeling will make it easy for engineers or researcher from a certain discipline to model the systems from other disciplines. For example, with availability of a unified modeling methodology an electrical engineer will be able to model a system composed of electrical, mechanical and fluid systems. Modeling of complex mechanical systems is not always easy for engineers from other disciplines. On the other hand, it is much easier to establish mathematical model of electric circuits. Furthermore, simulation software is much richer for electric circuits. Therefore, in this paper a methodology is proposed for unifying the modeling of electrical and complex mechanical systems by obtaining electric circuit model of complex mechanic systems. In developing the proposed methodology, analogy between the electrical and mechanical elements have been used as tools. Proposed methodology has been applied to modeling and simulation of a relatively complex mechanical system and benefits accrued from this approach has been discussed. It is further proposed that the approach presented in this paper can be easily extended to modeling of dynamic systems from other engineering disciplines.
In this work, a methodology and an integrated tool framework has been proposed for the preliminary design of electromechanical actuators. An in-house Modelica library has been developed to perform the sizing process. A CAD tool has been integrated with the system simulation software for automatic validation of the geometrical integration of an electromechanical actuator over a specific kinematic. The proposed framework is illustrated with the geometrical validation for an electromechanical actuator of a nose landing gear doors mechanism. Nowadays in Aerospace industry, new generations of systems based on electromechanical actuators technologies are beginning to replace the hydraulics ones [RR1]. This reconfiguration of actuation systems for aircraft can provide a gain in power management, operating mode, reliability and maintainability. This change in technology requires an overall rethinking of the design process and notably the use of multi-physics or multi-domain simulation tools...
Generalized Circuital Modeling of Electromechanical Devices
16th International Conference on Electrical Machines - ICEM 2004, 2004
The lumped-parameters modeling of electromechanical devices in terms of equivalent circuits and rigid bodies is widely in use by long time. In fact, it permits to draw important theoretical conclusions and to obtain handy analytical results useful for dynamic analysis. Nevertheless, this approach is often presented in reduced forms, e.g., assuming a single mechanical degree-of-freedom, magnetic linearity, 3-phase symmetrical windings, etc. This paper proposes a generalized treatment suppressing several of such hypotheses, leveraging on matrix notation and lagrangian notation for mechanical aspects to provide a powerful conceptual tool for the analysis of a wide class of devices.
Systems Engineering, 2012
The scope and complexity of engineered systems are ever-increasing as burgeoning global markets, unprecedented technological capabilities, rising consumer expectations, and ever-changing social requirements present difficult design challenges that often extend beyond the traditional engineering paradigm. These challenges require engineers and technical managers to treat the technological systems as a part of a larger whole. Existing system modeling frameworks are limited in scope for representing the information about engineering systems. This paper presents a conceptual framework and an improved modeling framework for engineering systems. Its value is that it allows engineers and managers an improved means to visually arrange information and structure discourse in a way that facilitates better systems engineering. It augments the existing literature by providing a clear and concise framework for an engineering system, and provides a methodology for engineers to tag and organize systems information in ways that allow for better collection, storage, processing, and analysis of systems engineering data.
Practical Considerations in the Modelling and Simulation of Electromechanical Actuators
Actuators
The work reported here was aimed at improving the practical efficiency of the model-based development and integration of electromechanical actuators. Models are proposed to serve as preliminary design, virtual prototyping, and validation. The first part focuses on the early phases of a project in order to facilitate the identification of modelling needs and constraints, and to build a top-level electromechanical actuator model for preliminary studies and sub-specification. Detailed modelling and simulation are then addressed with a mixed view on the control, power capability, and thermal balance. Models for the power chain are firstly considered by focusing on the key practical issues in modelling the electric motor, power electronics, and mechanical power transmission. The same logic is applied to the signal and control chain with practical considerations concerning the parameters of the controller, its digital implementation, the sensors, and their signal conditioning. Numerous or...
Component Based Mechatronics Modelling Methodology
There is long history of developing modelling systems in the fields like mechanics, electronics and control. Modelling a mechatronical system needs a sophisticated approach in modelling methodology especially at early stages of the design process. There are modelling tools in the market for mechatronics systems based on the general physical similarity principles of both mechanical and electrical components. It is well known that most of the later design constraints are designed into a product at the very first stages of the product development process. Therefore the concept design stage is of main interest though with strong links and sights to prospective end product.
Modeling Electromechanical Aspects of Cyber-Physical Systems
2016
Model-based tools have the potential to significantly improve theprocess of developing novel cyber-physical systems. In this paper, weconsider the question of what language features are needed to modelcyber-physical systems. Using a small, experimental hybrid systemsmodeling language to show how a number of basic and pervasive aspectsof cyber-physical systems can be modeled clearly using the small setof constructs that it provides. We then consider two, more complex,case studies from the domain of robotics. The first one, a quadcopter,illustrates that previously proposed core language can support larger,more interesting systems. The second one, a serial robot, provides aconcrete example of why it is important to support static partialderivatives, namely, that it significantly improves the way models ofrigid body dynamics can be expressed.
2001
Engineering design is focussed on the development of artifacts and systems to satisfy specified functions. Current CAD systems provide little support integrating the modeling of the function, behavior, and form of designed artifacts throughout the design process. The support that is provided is primarily for decomposition of functions in the earliest of stages of design. These decomposed functions are then rarely used in later design stages, most likely because of lack of integration with traditional CAD systems. The focus of this paper is to investigate representations that may be used for maintaining the function and behavior structure through later stages of design and simulation. Four representations are evaluated for use in function representation for conceptual design, embodiment design, and design for manufacturing. These four representations include: Graph Grammars, Exemplars, Bond Graphs, and Function Converters. It is shown that different representations are more suited for different phases of design depending upon required design tasks and for representing different types of function knowledge. Finally, an approach to integration of these representations is proposed, synthesizing a hybrid representation based upon the strengths of the four identified strategies.
Designing Mechatronic Systems: A Model-Integration Approach
2011
Development of mechatronic products requires different types of design models in order to support both domain-independent specifications and domain-specific principles. This research aims to find out how system-level modeling can support mechatronic design, and how the integration of system-level modeling and domain-specific modeling can be supported during different design phases. A design example of a hospital bed's propulsion system is presented to show firstly the relationship between conceptual design and system-level modeling, and secondly the need for integration of system level and domain specific design models. An integrated modeling and design infrastructure is proposed to support abstraction between mechatronic design models, hence supporting co-evolution of design models. The paper concludes that a mechatronic design problem can be better supported through such an integrated design approach. However, usability of this approach needs to be further supported by more case studies in the future
Model-Based Design for Mechatronic Systems
Electronics World Wireless World, 2008
The author discusses the challenges of developing mechatronic systems. Most engineers are surprised to learn that the term mechatronics is nearly 40 years old. It was first used in1969 by Tetsuro Mori, an engineer at the Yaskawa Company, to describe a system composed of mechanical and electrical elements that is controlled by an embedded system (Fig. 1). In today's world it is rare to find electromechanical devices without some kind of embedded system. The intelligence from an embedded system delivers enhanced performance, reduced energy consumption, better reliability, and safer operation, which are key differentiators and value drivers for a piece of equipment.
A representation scheme to support conceptual design of mechatronic systems
… intelligence in design, 1996
This paper outlines DROOL, a novel knowledge representation scheme for supporting early stages of the design of multi-technology systems. The key idea behind DROOL is that mechatronic systems should be considered as interlocking flows of matter, energy and information. This provides a powerful framework for thinking about important aspects of conceptual design, and an equally powerful structure for organising a design representation scheme. The paper presents an object model for DROOL, and shows how the scheme describes design concepts at various levels of abstraction, in terms of component hierarchies and interlocking flows. The development of DROOL is part of the FACADE Project, whose aim is to develop intelligent computer tools to facilitate communication among designers with different specialties in concurrent engineering projects. The FACADE System comprises a suite of interfaces with different visual representations to support different conceptual design activities, with a single underlying product representation: DROOL. Development is concentrating on two interfaces with alternative visual representations in which designers can describe the flows of matter, energy and information in mechatronic systems: blob diagrams and concept arrays.
Modelling and Simulation of Discrete Electromechanical Systems
Proceedings of the Third Conference on Mechatronics and Robotics, 1995
Electromechanical systems can be regarded as physical structures characterized by interaction of electromagnetic fields with inertial bodies. Constitutive equations describing the coupling of multibody dynamics with Kirchhoff's theory define discrete electromechanical systems. The motion of an electromechanical system will be understood as the motion of its representing point in its configuration space. Based on the principle of virtual work the motion equations are Lagrange's equations of second kind. The main goal is to show the automatic generation of these model equations based on a unique approach using a differential-geometric frame.
Developing a flexible system-modeling environment for engineers
Proceedings of the 35th Annual Hawaii International Conference on System Sciences, 2002
We are developing a module-oriented, multiphysics, mixed-fidelity system simulation environment that will enable engineers to rapidly analyze the performance of a system and to optimize its design. In the environment, physical components of the system are represented by software components, and are linked by ports that transfer and transform data between them. The model fidelity in a composite module may be specified independently, e.g., one composite module may have a parametric model and another may have a three-dimensional finite-element model. In a prototype of the environment users can specify thermal radiation models for each system component, embed electrical circuits in each component, and set the external conditions for the system. During the simulation users can monitor the thermal and electrical behavior of the system. The latest software design for the environment promises greater flexibility in extending the environment for analyzing and optimizing a variety of complex systems.
Study of the Characteristics and Computation Analysis Results of Electromechanical Systems Models
2011
Today, simulation of electrical drives with asynchronous motors based on systems of differential equations is regarded as one of the principal means of their research study. The difficulty of the simulation is determined by the need for accuracy of the results obtained and the complexity of the mathematical model's differential equations. In this article, we present a study of the particularities of the simulation of electrical drives systems with asynchronous motors. We have studied models composed of three-phase and orthogonal coordinates systems and we have shown that qualitative and quantitative differences exist in the process of changing the angular speed of the rotor and electromagnetic torque. The result obtained is above all influenced by the non-linear character of the load opposing a fan-type or "dry friction"-type resistant torque. For dual-earthed electromagnetic actuation with the moments of the resistant torques indicated, integration of differential equation systems was carried out with various digital methods used in professional mathematical software for simulation.
A Component Oriented Approach to Multidisciplinary Simulation of Mechatronic Systems
2007
Due to the multidisciplinary and complex structure of mechatronic products, their complete modeling and simulation is a hard challenge. On the other hand complete models are a key element of the development process of mechatronic systems. Starting from proofed modeling methods for mechanical, electrical and software systems, an integrated component oriented method for the modeling and simulation of multidisciplinary mechatronic systems will be presented in this paper. The basic concept uses components that represent shape/geometry and functions of real world components. Well defined external interfaces allow combining several components to build up more complex ones leading to complete systems in a straightforward bottom up process. The automated generation of multidisciplinary simulation models in semisymbolic form from extended 3D-CAD models is a key element of the method that guarantees the consistency of generated models avoids errors of manual modeling and reduces modeling effo...
Information structuring for use and reuse of mechanical analysis models in engineering design
1999
Nowadays, in an industrial context, cost and delay reduction, as well as quality improvement are of major interest in engineering design. Therefore, in order to make a decision as early as possible and according to the product speci®cations, mechanical analysis is used more and more, and earlier and earlier in the engineering process. Then, a multitude of mechanical models are elaborated during engineering design, and management diculties appear with engineering changes or evolution of speci®cations. Moreover, when the designer is faced with design or modelling options, previous analysis could answer the choice of options for decision making. Then, the reuse of a previous analysis must be envisaged. The paper presented deals with the aim and the dierent use of mechanical analysis in embodiment design. Afterwards, dierent levels of models handled by the designer during the engineering process are proposed. A particular type of analysis, namely`instructional' is identi®ed in a further step and its interest in a reuse context is emphasized. Finally, information structuring is proposed in order to allow mechanical analysis reuse during engineering design.