innovation for cyber-physical systems - mathworks...airbus: vahana e-fan dlr: hy4 facebook: aquila...
TRANSCRIPT
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1© 2015 The MathWorks, Inc.
How Simscape™ Supports
Innovation for Cyber-Physical
Systems
Kevin Roblet
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How can we use system-level modelling
to support innovative product design?
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INNOVATION
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What about aeronautics?
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Airbus:
Vahana E-Fan
DLR: HY4
Facebook: Aquila
Lilium:
Lilium Jet
AMP Electric
Vehicles:
Workhorse Surefly
Boeing: Fuel Cell
Siemens: eFusionPipistrel:
Panthera
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System-level models
Electric Hybrid
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What about robotics?
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Quadruped running robot
Biologically-inspired design (biomimetics)
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Quadruped running robot
Biologically-inspired design (biomimetics)
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Quadruped running robot
Biologically-inspired design (biomimetics)
Equivalent inverted pendulum model as basis for gait
x
y
p
u
v
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Quadruped running robot
Biologically-inspired design (biomimetics)
Equivalent inverted pendulum model as basis for gait
x
y
p
u
v
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Gait Selection
System Evaluation
Actuator Requirements
Actuator Selection
Actuator Validation
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Fixed parameters
– Leg length
– Running speed
– Mass
Design parameters
– Leg (spring) stiffness
– Stance height
1 2 3 4 5 Gait Selection1Design Steps
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Fixed parameters
– Leg length
– Running speed
– Mass
Design parameters
– Leg (spring) stiffness
– Stance height
Simple point-mass model
– MATLAB script for trade-off
1 2 3 4 5 Gait Selection1
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1 2 3 4 5 Actuator
Requirements
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Hydraulic Chemical Electric Pneumatic
Pneumatic cylinder
Air muscle
Limited travelrotary
Pneumatic motor
Hydraulic motor
Hydraulicactuator
Linear RotaryArtificial muscle
IC engine Brushed Brushless
DC motor
Shuntmotor
Series woundmotor
Induction motor
Servo motor
Variable reluctance
1 2 3 4 5 Actuator
Selection
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1 2 3 4 5 Actuator
Selection
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1 2 3 4 5 Actuator
Validation
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1 2 3 4 5 Actuator
Validation
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1 2 3 4 5 System
Evaluation
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- facilitates iterations
- permits greater understanding of design trade-offs
Gear ratio 80 100 120
Efficiency 84% 81% 78%
1 2 3 4 5 Automation
Example:
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Multiple models
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Multiple models
Each model matched to a design task
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Multiple models
Each model matched to a design task
Design data passed between models
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Multiple models
Each model matched to a design task
Design data passed between models
Automation to support analysis & optimisation
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Multiple models
Each model matched to a design task
Design data passed between models
Automation to support analysis & optimisation
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Custom Simscape components
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Example: McKibben air muscle
Write out defining equations
Find starting point in Simscape
foundation library
Incrementally add functionality,
testing as you go
Build library and test model
Increase pressure
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2
3
1
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Write out equations
𝐿𝑢 = Un-stretched length
𝐿𝑠 = Additional stretch due to force, FAssumptions
- Volume is approximately constant
- Stretch force is proportional to Ls
Equations
- 𝐿 = 𝐿𝑢 𝑝 + 𝐿𝑠- 𝐹 = 𝑘 × 𝐿𝑠- 𝑝𝑉 = 𝑛𝑅𝑇
p2
Lu(p2)
p1
F
Lu(p1) Ls
1
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But:
- Need mechanical ports
- Need equations
Find starting point from foundation library2
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Add:
- Two mechanical ports
- Two additional new equations
𝐿 = 𝐿𝑢 𝑝 + 𝐿𝑠𝐹 = 𝑘 × 𝐿𝑠
Incrementally add functionality3
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Add definitions for:
- Variables
- Parameters
Incrementally add functionality3
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Building library and test model4
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Why use Simscape?
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Building the right model
Image credit: 20th Century Fox Television
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People can make up statistics to prove
anything ! … 14% of people know that
D A T A
Some people have too much of it
T I M E
The science where you use long
formulas to explain why a ball rolls
P H Y S I C SP E R F E C T I O N
Have no fear of perfection, you will never reach it
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Fluid
Thermal
MechanicalElectrical
Multidomain
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Multidomain
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Modeling detail
Multidomain
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Useful starting pointsMultidomain
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Build custom components!
pF
Simscape
Language
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+ Control
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Testing without hardware prototypes!
Code
Generation
+
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CONCLUSIONMultidomain
Simscape
Language
+ Control
Code
Generation