application of openmodelica 1.12.0 for the simulation of mobile...
TRANSCRIPT
![Page 1: Application of OpenModelica 1.12.0 for the Simulation of Mobile …adrpo33/ModProd2018/OpenModelica/OMW… · 3. virtual sensors 4. operator control 5. wrap-up Linköping 05/02/2018](https://reader036.vdocument.in/reader036/viewer/2022081613/5fb54ee3ef985964ba4b83b2/html5/thumbnails/1.jpg)
Application of OpenModelica 1.12.0 for the Simulation of Mobile Machinery
Linköping, 05/02/2018
OpenModelicaWorkshop 2018
Volker Waurich
Endowed Chair of Construction Machines
![Page 2: Application of OpenModelica 1.12.0 for the Simulation of Mobile …adrpo33/ModProd2018/OpenModelica/OMW… · 3. virtual sensors 4. operator control 5. wrap-up Linköping 05/02/2018](https://reader036.vdocument.in/reader036/viewer/2022081613/5fb54ee3ef985964ba4b83b2/html5/thumbnails/2.jpg)
Outline
1. automation of a wheel loader
2. pile model
3. virtual sensors
4. operator control
5. wrap-up
Linköping 05/02/2018 Simulation of Mobile Machinery slide 2
outline
![Page 3: Application of OpenModelica 1.12.0 for the Simulation of Mobile …adrpo33/ModProd2018/OpenModelica/OMW… · 3. virtual sensors 4. operator control 5. wrap-up Linköping 05/02/2018](https://reader036.vdocument.in/reader036/viewer/2022081613/5fb54ee3ef985964ba4b83b2/html5/thumbnails/3.jpg)
AUTOMATION OF A WHEEL LOADER
Linköping 05/02/2018 Simulation of Mobile Machinery slide 3
![Page 4: Application of OpenModelica 1.12.0 for the Simulation of Mobile …adrpo33/ModProd2018/OpenModelica/OMW… · 3. virtual sensors 4. operator control 5. wrap-up Linköping 05/02/2018](https://reader036.vdocument.in/reader036/viewer/2022081613/5fb54ee3ef985964ba4b83b2/html5/thumbnails/4.jpg)
wheel loader operation
Linköping 05/02/2018 Simulation of Mobile Machinery slide 4
automation of a wheel loader
• effective earth-moving dependsstrongly on operator skill level
• potencial for energy saving, increase in productivity, costreduction
• cutting and filling the bucket iscrucial
automation of a bucket filling
process
![Page 5: Application of OpenModelica 1.12.0 for the Simulation of Mobile …adrpo33/ModProd2018/OpenModelica/OMW… · 3. virtual sensors 4. operator control 5. wrap-up Linköping 05/02/2018](https://reader036.vdocument.in/reader036/viewer/2022081613/5fb54ee3ef985964ba4b83b2/html5/thumbnails/5.jpg)
considerations
Linköping 05/02/2018 Simulation of Mobile Machinery slide 5
automation of a wheel loader
F
α
bucket trajectory tire slip and wear performance
![Page 6: Application of OpenModelica 1.12.0 for the Simulation of Mobile …adrpo33/ModProd2018/OpenModelica/OMW… · 3. virtual sensors 4. operator control 5. wrap-up Linköping 05/02/2018](https://reader036.vdocument.in/reader036/viewer/2022081613/5fb54ee3ef985964ba4b83b2/html5/thumbnails/6.jpg)
hardware setup
Linköping 05/02/2018 Simulation of Mobile Machinery slide 6
automation of a wheel loader
CAN BCAN C
CAN D
CAN A
DAQ
ECU VKM
ECU HM
ECU FA
ECU MS
ECU AH
lidar process controladditional equipment
![Page 7: Application of OpenModelica 1.12.0 for the Simulation of Mobile …adrpo33/ModProd2018/OpenModelica/OMW… · 3. virtual sensors 4. operator control 5. wrap-up Linköping 05/02/2018](https://reader036.vdocument.in/reader036/viewer/2022081613/5fb54ee3ef985964ba4b83b2/html5/thumbnails/7.jpg)
simulation setup
Linköping 05/02/2018 Simulation of Mobile Machinery slide 7
automation of a wheel loader
wheel loadermechanics and hydraulics
analyticalpile model
virtual 3D environment
process control
![Page 8: Application of OpenModelica 1.12.0 for the Simulation of Mobile …adrpo33/ModProd2018/OpenModelica/OMW… · 3. virtual sensors 4. operator control 5. wrap-up Linköping 05/02/2018](https://reader036.vdocument.in/reader036/viewer/2022081613/5fb54ee3ef985964ba4b83b2/html5/thumbnails/8.jpg)
PILE MODEL
Linköping 05/02/2018 Simulation of Mobile Machinery slide 8
![Page 9: Application of OpenModelica 1.12.0 for the Simulation of Mobile …adrpo33/ModProd2018/OpenModelica/OMW… · 3. virtual sensors 4. operator control 5. wrap-up Linköping 05/02/2018](https://reader036.vdocument.in/reader036/viewer/2022081613/5fb54ee3ef985964ba4b83b2/html5/thumbnails/9.jpg)
analytical pile model
• 2D-model in the centre plane of bucket
• analytical computation of component forces
• F_cut = f(cutting depth);
Linköping 05/02/2018 Simulation of Mobile Machinery slide 9
pile model
F_load
F_cut
F_downhill
F_friction
F_bottom
bucket
pose
cutting
depth,
intersection
area
forces,
loaded
mass,
contour
![Page 10: Application of OpenModelica 1.12.0 for the Simulation of Mobile …adrpo33/ModProd2018/OpenModelica/OMW… · 3. virtual sensors 4. operator control 5. wrap-up Linköping 05/02/2018](https://reader036.vdocument.in/reader036/viewer/2022081613/5fb54ee3ef985964ba4b83b2/html5/thumbnails/10.jpg)
persistent contour
• pile surface must be persistent between loading cycles
• segmentation of surface
• enter segment: compute cutting depth
• leave segment: move contour, add load
Linköping 05/02/2018 Simulation of Mobile Machinery slide 10
pile model
pileHeight[i] := min(pileHeight[i],bucket.z);
not in continuous models (online minimum problem)
![Page 11: Application of OpenModelica 1.12.0 for the Simulation of Mobile …adrpo33/ModProd2018/OpenModelica/OMW… · 3. virtual sensors 4. operator control 5. wrap-up Linköping 05/02/2018](https://reader036.vdocument.in/reader036/viewer/2022081613/5fb54ee3ef985964ba4b83b2/html5/thumbnails/11.jpg)
persistent contour
• discrete behaviour with sampled time or state events is not efficient
• realtime criteria
Linköping 05/02/2018 Simulation of Mobile Machinery slide 11
pile model
intersec = getExtIntersection(pile, bucket.x, bucket.z, time);
external C-model
![Page 12: Application of OpenModelica 1.12.0 for the Simulation of Mobile …adrpo33/ModProd2018/OpenModelica/OMW… · 3. virtual sensors 4. operator control 5. wrap-up Linköping 05/02/2018](https://reader036.vdocument.in/reader036/viewer/2022081613/5fb54ee3ef985964ba4b83b2/html5/thumbnails/12.jpg)
VIRTUAL SENSORS
Linköping 05/02/2018 Simulation of Mobile Machinery slide 12
![Page 13: Application of OpenModelica 1.12.0 for the Simulation of Mobile …adrpo33/ModProd2018/OpenModelica/OMW… · 3. virtual sensors 4. operator control 5. wrap-up Linköping 05/02/2018](https://reader036.vdocument.in/reader036/viewer/2022081613/5fb54ee3ef985964ba4b83b2/html5/thumbnails/13.jpg)
3D-perception by distance measurement
Linköping 05/02/2018 Simulation of Mobile Machinery slide 13
virtual sensors
Lidar: TOF-measurements oflaser beam
detection of angle of reposeand distance to pile Velodyne VLP-16
![Page 14: Application of OpenModelica 1.12.0 for the Simulation of Mobile …adrpo33/ModProd2018/OpenModelica/OMW… · 3. virtual sensors 4. operator control 5. wrap-up Linköping 05/02/2018](https://reader036.vdocument.in/reader036/viewer/2022081613/5fb54ee3ef985964ba4b83b2/html5/thumbnails/14.jpg)
3D-lidar in unity
Linköping 05/02/2018 Simulation of Mobile Machinery slide 14
virtual sensors
• comprehensive 3D world in unity
• virtual lidar using raycast() - bunch
• Velodyne VLP16 style UDP package
![Page 15: Application of OpenModelica 1.12.0 for the Simulation of Mobile …adrpo33/ModProd2018/OpenModelica/OMW… · 3. virtual sensors 4. operator control 5. wrap-up Linköping 05/02/2018](https://reader036.vdocument.in/reader036/viewer/2022081613/5fb54ee3ef985964ba4b83b2/html5/thumbnails/15.jpg)
3D-environments in Modelica?
• coupling of unity with Modelica model
• model sends pose of sensor mounting
• sensor pose moves lidar gameObject
• lidar gameObject sends distance data
Linköping 05/02/2018 Simulation of Mobile Machinery slide 15
virtual sensors
![Page 16: Application of OpenModelica 1.12.0 for the Simulation of Mobile …adrpo33/ModProd2018/OpenModelica/OMW… · 3. virtual sensors 4. operator control 5. wrap-up Linköping 05/02/2018](https://reader036.vdocument.in/reader036/viewer/2022081613/5fb54ee3ef985964ba4b83b2/html5/thumbnails/16.jpg)
OPERATOR CONTROL
Linköping 05/02/2018 Simulation of Mobile Machinery slide 16
![Page 17: Application of OpenModelica 1.12.0 for the Simulation of Mobile …adrpo33/ModProd2018/OpenModelica/OMW… · 3. virtual sensors 4. operator control 5. wrap-up Linköping 05/02/2018](https://reader036.vdocument.in/reader036/viewer/2022081613/5fb54ee3ef985964ba4b83b2/html5/thumbnails/17.jpg)
operator model
• to accomplish driving tasks, working cycles
• emulate real operator
• algorithm for automated functions
Linköping 05/02/2018 Simulation of Mobile Machinery slide 17
operator control
task,
perceptionoperator
model
actuator
signals
![Page 18: Application of OpenModelica 1.12.0 for the Simulation of Mobile …adrpo33/ModProd2018/OpenModelica/OMW… · 3. virtual sensors 4. operator control 5. wrap-up Linköping 05/02/2018](https://reader036.vdocument.in/reader036/viewer/2022081613/5fb54ee3ef985964ba4b83b2/html5/thumbnails/18.jpg)
operator model
• modelling approach: discrete state machine
Linköping 05/02/2018 Simulation of Mobile Machinery slide 18
operator control
![Page 19: Application of OpenModelica 1.12.0 for the Simulation of Mobile …adrpo33/ModProd2018/OpenModelica/OMW… · 3. virtual sensors 4. operator control 5. wrap-up Linköping 05/02/2018](https://reader036.vdocument.in/reader036/viewer/2022081613/5fb54ee3ef985964ba4b83b2/html5/thumbnails/19.jpg)
operator control
Linköping 05/02/2018 Simulation of Mobile Machinery slide 19
operator control
• target speed of cylinders , target wheel drive
![Page 20: Application of OpenModelica 1.12.0 for the Simulation of Mobile …adrpo33/ModProd2018/OpenModelica/OMW… · 3. virtual sensors 4. operator control 5. wrap-up Linköping 05/02/2018](https://reader036.vdocument.in/reader036/viewer/2022081613/5fb54ee3ef985964ba4b83b2/html5/thumbnails/20.jpg)
WRAP-UP
Linköping 05/02/2018 Simulation of Mobile Machinery slide 20
![Page 21: Application of OpenModelica 1.12.0 for the Simulation of Mobile …adrpo33/ModProd2018/OpenModelica/OMW… · 3. virtual sensors 4. operator control 5. wrap-up Linköping 05/02/2018](https://reader036.vdocument.in/reader036/viewer/2022081613/5fb54ee3ef985964ba4b83b2/html5/thumbnails/21.jpg)
summary
Linköping 05/02/2018 Simulation of Mobile Machinery slide 21
wrap-up
• OpenModelica is feasible to model mobile machinery (i.e. 3D mechanics, hydraulics, control)
• Modelica lacks comprehensive 3D-modelling and interaction
• tool-coupling to 3D-simulation software is a straightforwardpossibility to interact with 3D-worlds
![Page 22: Application of OpenModelica 1.12.0 for the Simulation of Mobile …adrpo33/ModProd2018/OpenModelica/OMW… · 3. virtual sensors 4. operator control 5. wrap-up Linköping 05/02/2018](https://reader036.vdocument.in/reader036/viewer/2022081613/5fb54ee3ef985964ba4b83b2/html5/thumbnails/22.jpg)
OpenModelica achievements
• improvements with external C (Windows) enhance system simulations with hardware, networks and virtual
sensors
• important library improvements with OM 1.12.: OpenHydraulics and M_DD
hydraulic drive simulation and external tool coupling
• synchronous and state-machines operator control and process logic modelling
• 3D visualization
Linköping 05/02/2018 Simulation of Mobile Machinery slide 22
wrap-up
![Page 23: Application of OpenModelica 1.12.0 for the Simulation of Mobile …adrpo33/ModProd2018/OpenModelica/OMW… · 3. virtual sensors 4. operator control 5. wrap-up Linköping 05/02/2018](https://reader036.vdocument.in/reader036/viewer/2022081613/5fb54ee3ef985964ba4b83b2/html5/thumbnails/23.jpg)
outlook
• better 3D modelling in OM (live 3D models?)
• closer interaction with 3D-tools
• wheel-ground models
• multiple, persistent soil interaction
• collision detection
• hardware-in-the-loop (realtime!)
• ECU-coupling
• HMI-App design
• IoT interfaces (MQTT)
Linköping 05/02/2018 Simulation of Mobile Machinery slide 23
wrap-up
IMU via CAN in OMEdit
![Page 24: Application of OpenModelica 1.12.0 for the Simulation of Mobile …adrpo33/ModProd2018/OpenModelica/OMW… · 3. virtual sensors 4. operator control 5. wrap-up Linköping 05/02/2018](https://reader036.vdocument.in/reader036/viewer/2022081613/5fb54ee3ef985964ba4b83b2/html5/thumbnails/24.jpg)
Linköping 05/02/2018 Simulation of Mobile Machinery slide 24
Thank you for your attention.
Thank you OM-developers for your support.
Volker [email protected]