Real-Time Models for Hardware-in-the-Loop-Simulation of Hydraulic Drive and Control Systems

Transcription

1 Fakultät Machinenween Intitut für Fluidtechnik Real-Time Model for Hardware-in-the-Loop-Simulation of Hydraulic Drive and Control Sytem Speaker: Oliver Koch Date: 23 April 214 Outline 1 Introduction 2 Model Analyi 3 Generating Real-Time Model 4 Reult

2 1 Introduction Teting the function of drive and control ytem for mobile-hydraulic application apect of modern mobile machine electronic control additional functionality law condition complexity ytematic ytem-developing proce requirement pecification requirement analyi main concept ubytem concept offline-imulation new failure cenario development cot implementation bu ytem robutne integration real-time imulation commiioning Slide 2

3 1 Introduction Hardware-in-the-Loop tet bench Configuration, Programming & Automation Real Hardware ECU-IN ECU-OUT Error Enforcement Signal Conditioning Real-Time-Simulation RTS-OUT RTS-IN Slide 3

4 handling event functional decription algebraic loop explicit method computing perform. ampling rate dynamical behavior tability range non-lin., dicont. phyical effect 1 Introduction Requirement for real-time capability actuator ignal 24V On/Off, PWM, CAN minimum requirement: time tep h ampling rate T A 1V, enor ignal 4 2mA, h 1m CAN, T A =1...1m real-time capability (T R <h) accuracy method error detail calculation time (T R ) determinim time tep (h) num. tability model method enviroment model method model Slide 4

5 2 Model Analyi Example excavator an electro-hydraulic flow matching ytem boom tick bucket attachment m 1 m 2 m 3 IDW 1 IDW 2 IDW 3 1 m control EDW andwich valve pump Slide 5

6 preure tick velocity 2 Model Analyi A validated model i the tarting point for real-time model generation bucket boom tick 15 boom tick m 1 m 2 mm v tick 5 1 m IDW 1 IDW 2 1 bar p rod v boom 5 control EDW 25 p piton pump imulation model meaurement time Slide 6

7 Im [1/] EF h =.5 m velocity boom 2 Model Analyi The problem of dynamic imulation when uing a fixed tep integration method numerical tability tiff element mall volume, end top m implicit decription contraint bucket link 2 bucket accuracy dicontinuity m tick friction, huttle valve boom complexity interaction 1 2 m 4 ubytem bar mm/ Re [1/] 1-2 ytem preure p time IDW EDW p Slide 7

8 2 Model Analyi The problem of dynamic imulation when uing a fixed tep integration method numerical tability tiff element mall volume, end top m implicit decription contraint bucket link 2 bucket accuracy dicontinuity m tick friction, huttle valve boom complexity interaction 1 2 m 4 IDW ubytem EDW p ytem preure velocity boom Slide 8

9 Im [1/] EF h =.5 m velocity boom 2 Model Analyi The problem of dynamic imulation when uing a fixed tep integration method numerical tability tiff element mall volume, end top implicit decription bucket link accuracy dicontinuity friction, huttle valve complexity ubytem interaction Re [1/] contraint 1-2 ytem preure p 2 m 15 bar 1 tick bucket boom 1 2 m time mm/ m IDW EDW p ytem preure velocity boom Slide 9

10 Im [1/] EF h =.5 m EF h =.5 m T A = 1 m 3 Generating Real-Time Model Enlarging the tep ize how do we find tiff model element? eigenvalue ditribution during planum load cycle 1 6 Euler Forward tability contraint Shannon Theorem Schur Tranformation V 1 max 1 h 1 2 A T A AV UAV Λ k m n Re [1/] A ytem matrix Λ Schur tranformation U,V tranformation matrix u nk vkm amn fk, mn amn k, m n m n mn! k x 1 x 2 x n 1 Λ x 1 k,11 k,21 k, n1 x 2 * k,12 k,22 k, n2 2 * * n x n k,1n k,2n k, nn Slide 1

11 Im [1/] EF h =.5 m EF h =.5 m T A = 1 m EF h =.5 m T A = 1 m 3 Generating Real-Time Model Enlarging the tep ize the engineering challenge to find appropriate changing comparion of eigenvalue ditribution during planum load cycle EDW 1 2 IDW 1 huttle valve Re [1/] Re [1/] cylinder occurrence eigenvalue dependency explained by an orifice example p Q Dr α D A Dr V,p p K' 2 D ADr p V p K' 2 V p D A p Dr AP Slide 11

12 contraint four bar linkage 3 Generating Real-Time Model The problem of contraint kinematic mechanim of the excavator boom tick φ S boom tick bucket φ K φ L kinematic loop φ K φ S φ L differential algebraic equation x f x, u,t g( x, u, t) φ K φ S φ L nonlinear differential equation algebraic contraint calculation time T c /T c,max 1,8,6,4,2 1 2 bucket Slide 12

13 preure boom velocity 3 Reult Excavator real-time model compared to the offline model Euler forward h =.5 m 15 mm 5 v tick v tick v boom v tick 15 bar v boom real-time model offline model v boom offline model meaurement time time time Slide 13

14 preure boom velocity 3 Reult Excavator real-time model Euler forward h =.5 m 15 mm v tick 5 15 bar v boom real-time model offline model time Slide 14