Conference article

Robert Braun
Division of Fluid and Mechatronic Systems, Dept. of Management and Engineering, Linköping University, Sweden

Adeel Asghar
PELAB - Programming Environment Lab, Dept. of Computer Science, Linköping University, Sweden

Adrian Pop
PELAB - Programming Environment Lab, Dept. of Computer Science, Linköping University, Sweden

Dag Fritzson
SKF Group Technology, AB SKF, Göteborg, Sweden

Download articlehttp://dx.doi.org/10.3384/ecp17144393

Published in: Proceedings of 15:th Scandinavian International Conference on Fluid Power, June 7-9, 2017, Linköping, Sweden

Linköping Electronic Conference Proceedings 144:39, p. 393-400

Published: 2017-12-20

ISBN: 978-91-7685-369-6

ISSN: 1650-3686 (print), 1650-3740 (online)

Simulation of fluid power systems typically requires models from multiple disciplines. Achieving accurate load dynamics for a system with complex geometry, for example, may require both a 1D model of the hydraulic circuit and a 3D multi-body model. However, most simulation tools are limited to a single discipline. A solution to these kinds of problems is co-simulation, where different tools are coupled and simulated together. Co-simulation can provide increased accuracy, improved modularity and facilitated collaboration between different organizations. Unfortunately, tool coupling typically requires tedious and error-prone manual work. It may also introduce numerical problems. For these reasons, co-simulation is often avoided as long as possible. These problems have been addressed by the development of an open-source framework for asynchronous co-simulation. Simulation tools can be interconnected through a stand-alone master simulation tool. An extensive range of tools is also supported via the Functional Mockup Interface standard. A graphical user interface has been implemented in the OpenModelica Connection Editor. System models can be created and edited from both a schematic view and a 3D view. Numerical robustness is enforced by the use of transmission line modelling. A minimalistic programming interface consisting of only two functions is used. An example model consisting of a hydraulic crane with two arms, two actuators and a hanging load is used to verify the framework. The composite model consists of nine multi-body models, one hydraulic system model and a controller. It is shown that models from various simulation tools can be replaced with a minimal amount of user input.

[1] Jens Bastian, Christoph Clauß, Susann Wolf, and Peter Schneider. Master for co-simulation using FMI. In 8th International Modelica Conference, Dresden. Citeseer, 2011.

[2] Atiyah Elsheikh, Muhammed Usman Awais, Edmund Widl, and Peter Palensky. Modelica-enabled rapid prototyping of cyber-physical energy systems via the functional mockup interface. In Modeling and Simulation of Cyber-Physical Energy Systems (MSCPES), 2013Workshop on, pages 1–6. IEEE, 2013.

[3] Muhammad Usman Awais, Peter Palensky, Wolfgang Mueller, Edmund Widl, and Atiyah Elsheikh. Distributed hybrid simulation using the HLA and the functional mock-up interface. Industrial Electronics Society, IECON, pages 7564–7569, 2013.

[4] Himanshu Neema, Jesse Gohl, Zsolt Lattmann, Janos Sztipanovits, Gabor Karsai, Sandeep Neema, Ted Bapty, John Batteh, Hubertus Tummescheit, and Chandraseka Sureshkumar. Model-based integration platform for fmi co-simulation and heterogeneous simulations of cyberphysical systems. In Proceedings of the 10 th International Modelica Conference; March 10-12; 2014; Lund; Sweden, number 096, pages 235–245. Linköping University Electronic Press, 2014.

[5] Tom Schierz, Martin Arnold, and Christoph Clauß. Cosimulation with communication step size control in an FMI compatible master algorithmnak. In 9th Int. Modelica Conf., Munich, Germany, pages 205–214, 2012.

[6] Bernhard Schweizer, Daixing Lu, and Pu Li. Cosimulation method for solver coupling with algebraic constraints incorporating relaxation techniques. Multibody System Dynamics, 36(1):1–36, 2016.

[7] Robert Braun and Petter Krus. Tool-independent distributed simulations using transmission line elements and the Functional Mock-up Interface. October 2013.

[8] Robert Braun, Liselott Ericsson, and Petter Krus. Full vehicle simulation of forwarder with semi active suspension using co-simulation. In ASME/BATH 2015 Symposium on Fluid Power and Motion Control, October 2015.

[9] Donard De Cogan, William J O’Connor, and Susan Pulko. Transmission line matrix (TLM) in computational mechanics. CRC press, 2005.

[10] Petter Krus. Robust modelling using bi-lateral delay lines for real time and faster than real time system simulation. In ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, pages 131–138. American Society of Mechanical Engineers, 2009.

[11] P. Krus, A. Jansson, J-O. Palmberg, and K. Weddfelt. Distributed simulation of hydromechanical systems. In The Third Bath International Fluid Power Workshop, Bath, England, 1990.

[12] Alexander Siemers, Dag Fritzson, and Iakov Nakhimovski. General meta-model based co-simulations applied to mechanical systems. Simulation Modelling Practice And Theory, 17(4):612–624, 2009.

[13] Kaj Nyström and Peter Fritzson. Parallel simulation with transmission lines in Modelica. In 5th International Modelica Conference, Vienna, Austria, September 2006.

[14] Martin Sjölund, Mahder Gebremedhin, and Peter Fritzson. Parallelizing equation-based models for simulation on multi-core platforms by utilizing model structure. In Alain Darte, editor, Proceedings of the 17th Workshop on Compilers for Parallel Computing, Lyon, France, July 2013.

[15] Robert Braun and Petter Krus. Multi-threaded distributed system simulations using the transmission line element method. SIMULATION, 92(10):921–930, October 2016.

[16] P. Krus, K. Weddfelt, and J-O. Palmberg. Fast pipeline models for simulation of hydraulic systems. Journal Of Dynamic Systems Measurement And Control, 116:132–136, 1994.

[17] Nigel Johnston. The transmission line method for modelling laminar flow of liquid in pipelines. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 226(5):586–597, 2012.

[18] T. Blochwitz, M. Otter, M. Arnold, C. Bausch, C. Clauß, H. Elmqvist, A. Junghanns, J. Mauss, M. Monteiro, T. Neidhold, D. Neumerkel, H. Olsson, J.-V. Peetz, and S.Wolf. The Functional Mockup Interface for tool independent exchange of simulation models. In 8th International Modelica Conference 2011, Como, Italy, September 2009.

[19] Iakov Nakhimovski. Contributions to the Modeling and Simulation of Mechanical Systems with Detailed Contact Analyses. PhD thesis, Linköping University, PELAB - Programming Environment Laboratory, The Institute of Technology, 2006.

[20] Alachew Mengist, Adeel Asghar, Adrian Pop, Peter Fritzson, Willi Braun, Alexander Siemers, and Dag Fritzson. An open-source graphical composite modeling editor and simulation tool based on FMi and TLM co-simulation. In Peter Fritzson and Hilding Elmqvist, editors, Proceedings of the 11th International Modelica Conference. Modelica Association and Linköping University Electronic Press, September 2015.

[21] Syed Adeel Asghar, Sonia Tariq, Mohsen Torabzadeh-Tari, Peter Fritzson, Adrian Pop, Martin Sjölund, Parham Vasaiely, and Wladimir Schamai. An open source Modelica graphic editor integrated with electronic notebooks and interactive simulation. In Christoph Clauß, editor, Proceedings of the 8th International Modelica Conference. Linköping University Electronic Press, March 2011.

[22] Peter Fritzson, Peter Aronsson, Håkan Lundvall, Kaj Nyström, Adrian Pop, Levon Saldamli, and David Broman. The openmodelica modeling, simulation, and software development environment. Simulation News Europe, 44:8–16, 2005.

[23] Lars Erik Stacke, Dag Fritzson, and Patrik Nordling. Beast—a rolling bearing simulation tool. Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics, 213(2):63–71, 1999.

[24] Dag Fritzson, Lars-Erik Stacke, and Jens Anders. Dynamic simulation–building knowledge in product development. Evolution, 1, 2014.

[25] Mikael Axin, Robert Braun, Alessandro Dell’Amico, Björn Eriksson, Peter Nordin, Karl Pettersson, Ingo Staack, and Petter Krus. Next generation simulation software using transmission line elements. In Fluid Power and Motion Control, Bath, England, September 2010.

[26] B. Eriksson, P. Nordin, and P. Krus. Hopsan NG, a C++ implementation using the TLM simulation technique. In The 51st Conference On Simulation And Modelling, Oulu, Finland, 2010.

[27] Modelon. Dymola. http://www.modelon.com/products/dymola/. Accessed 2015-10-07.

[28] The Mathworks, Inc. Simulink - Simulation and Model-Based Design. https://se.mathworks.com/products/simulink/. Accessed 2016-11-22.

[29] RR Ryan. ADAMS - multibody system analysis software. In Multibody Systems Handbook, pages 361–402. Springer, 1990.

[30] J. Galindo, A. Tiseira, P. Fajardo, and R. Navarro. Coupling methodology of 1d finite difference and 3d finite volume {CFD} codes based on the method of characteristics. Mathematical and Computer Modelling, 54(7-8):1738 – 1746, 2011.

[31] S. H. Pulko, A. Mallik, R. Allen, and P. B. Johns. Automatic timestepping in TLM routines for the modelling of thermal diffusion processes. International Journal of Numerical Modelling: Electronic Networks, Devices and Fields, 3(2):127–136, 1990.