PowerPoint 프레젠테이션

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1 RecurDyn 의 Co-simulation 와 하드웨어인터페이스적용 User day 김진수, 서준원 펑션베이솔루션그룹

2 Index 1. Co-simulation 이란? Interface 방식 Co-simulation 개념 2. RecurDyn 과 Co-simulation 이가능한분야별소프트웨어 Dynamics과 Control 1) RecurDyn χ Simulink 2) RecurDyn χ Labview Dynamics과 Hydraulics 1) RecurDyn χ AMESim 2) RecurDyn χ SimulationX Dynamics과 Fluid 1) RecurDyn χ Particleworks Multi-Cosimulation 1) RecurDyn χ Particleworks χ Simulink 2) RecurDyn χ Particleworks χ AMESim 3. Hardware Interface Joystick interface 1) Matlab 2) Co-link

3 1. Co-simulation 이란? 3

Interface 방식 Main Program Sub Program Direct.

4 Interface 방식 Main Program Sub Program Direct.dll Solution Integration 방법 (Ex. MF Tire, Co-Link) Main Program Some Program Co-Sim. Hardware 하드웨어와직접연결방법 (Joystick, DSP, Raspberrypi ) The other Program 표준화된 Interface 와 Shared Memory 또는통신을이용한연결방법 (FMI, Simulink, AMESim ) 4

5 Co-simulation? Some program Input The other Program Output Some Program Shared Memory The other Program Some program Output The other Program Input 5

6 2. RecurDyn 과 Co-simulation 이 가능한분야별소프트웨어 6

7 Control (Simulink, Labview) Fluid (Particleworks) RecurDyn Hydraulics (AMESim, SimulationX) Joystick interface (Matlab, Co-link) 7

8 Dynamics χ Control RecurDyn & Simulink RecurDyn 동역학모델링 Simulink 제어로직구현 Steering bar User force rdblock Controlled Wheel Control force Chassis CM Co-simulation 을위해선 rdblock 명령어를통해 RecurDyn Block 생성필요 Chassis Wheel center Wheel torque input Joint Force Contact Plant input Plant output PID Controller Pitch Angle Output 8

9 Dynamics χ Control 해석결과 Without controller Contact Force Chassis Speed With controller Handling Force Chassis Speed 9

10 Dynamics χ Control RecurDyn & Labview RecurDyn 동역학모델링 Labview 제어로직구현 dll 파일생성 입력값 Control force Co-simulation 을위해선 Visual Studio 를통해 *.dll 파일생성필요 Marker 1 Marker 2 Joint Force Contact Plant input Plant output Input signal Output Signal 10

11 Dynamics χ Control 해석결과 Without controller With controller 11

12 Dynamics χ Control 해석결과 RecurDyn Plant Input/Output 48mm Plant Output1(Displacement) Plant Ouput2 (Velocity) Plant Input1 (Control Torque) LabVIEW 48mm Displacement Velocity 12

13 Dynamics χ Hydraulics RecurDyn & AMESim RecurDyn 동역학모델링 AMESim 유압구현 Co-simulation 을위해선 Interface block 을통해 RecurDyn Block 생성필요 Plant input 유압모델 Axial Force Controlled Piston Cylinder Piston Displacement & Velocity Plant output 13 Command Signal -1 +1

14 Dynamics χ Hydraulics 해석결과 Displacement & Velocity of Piston Force of Piston 14

15 Dynamics χ Hydraulics RecurDyn & SimulationX RecurDyn input Right SimulationX 유압구현 RecurDyn input Left 유압모델 15

16 Dynamics χ Hydraulics 해석결과 Displacement & Velocity of Piston Force of Piston 16

17 Dynamics χ Fluid RecurDyn & Particleworks RecurDyn 동역학모델링 See Boundary Obj 파일생성 Particleworks 유체구현 Ship Body Co-simulation 을위해 RecurDyn 에서 Vessel 을만들어 *.obj 파일생성필요 Steering key 유체생성 Propeller Joint Force Vessel 17

18 Dynamics χ Fluid 해석결과 RecurDyn result Particleworks result 18

19 Multi-Cosimulation RecurDyn & Particleworks & Simulink Simulink 제어로직구현 RecurDyn 을통해세탁기동역학모델구현 Particleworks 유체구현 Simulink 를통해세탁기에가해지는구동 Torque 를제어 RecurDyn 동역학모델링 Particleworks 를통한세탁기안의유체표현 19

20 Multi-Cosimulation 해석결과 RecurDyn result Angular Velocity Torque Particleworks result Vector & Velocity field Particle & Velocity field 20

21 Multi-Cosimulation RecurDyn & Particleworks & AMESim RecurDyn 동역학모델링 AMESim 을통해 Excavator 내부실린더의움직임에따른유압구현 Particleworks 를통한진흙입자생성및유체솔루션구현 RecurDyn 을통해 Excavator (Track LM) 동역학모델구현 AMESim 유압구현 Particleworks 유체구현 21

22 Multi-Cosimulation 해석결과 RecurDyn animation Displacement Hydraulic Force 22

23 3. Hardware Interface 23

Joystick Interface Co-link 와 Simulink 를통한

) Target (Joystick 의조종입력값 ) Error 계산 PID 제어및 RPM

24 Joystick Interface Co-link 와 Simulink 를통한 Hardware interface RecurDyn 동역학모델링 Plant Output 각날개의 Angular Velocity Drone Body Velocity Drone 의 Roll/Pitch/Yaw/Elevation Measure (RecurDyn 결과값 ) Target (Joystick 의조종입력값 ) Error 계산 PID 제어및 RPM / Power / Torque 계산 Plant Input 각날개의 Rotational Force 24

25 Joystick Interface 제어로직구현 Simulink Joystick Matlab 의 Simulink Simulink block U-function dll 파일 RecurDyn 의 Co-link 25

26 Joystick Interface 해석결과 26

27 4. Conclusion 27

28 Conclusion 28

29 Control (Simulink, Labview) Particle Dynamics Fluid (Particleworks) Thermo Dynamics RecurDyn Electronics Hydraulics (AMESim, SimulationX) Ergonomics Joystick Interface (Matlab, Co-link) 29

30 감사합니다. 5F, Pangyo Seven Venture Valley 1 danji 2dong, 15, Pangyo-ro 228beon-gil, Bundang-gu, Seongnam-si, Gyeonggi-do, 13487, Korea Tel : , Fax ,

歯기구학

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