RecurDyn 의 Co-simulation 와 하드웨어인터페이스적용 2016.11.16 User day 김진수, 서준원 펑션베이솔루션그룹
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
1. Co-simulation 이란? 3
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
Co-simulation? Some program Input The other Program Output Some Program Shared Memory The other Program Some program Output The other Program Input 5
2. RecurDyn 과 Co-simulation 이 가능한분야별소프트웨어 6
Control (Simulink, Labview) Fluid (Particleworks) RecurDyn Hydraulics (AMESim, SimulationX) Joystick interface (Matlab, Co-link) 7
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
Dynamics χ Control 해석결과 Without controller Contact Force Chassis Speed With controller Handling Force Chassis Speed 9
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
Dynamics χ Control 해석결과 Without controller With controller 11
Dynamics χ Control 해석결과 RecurDyn Plant Input/Output 48mm Plant Output1(Displacement) Plant Ouput2 (Velocity) Plant Input1 (Control Torque) LabVIEW 48mm Displacement Velocity 12
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
Dynamics χ Hydraulics 해석결과 Displacement & Velocity of Piston Force of Piston 14
Dynamics χ Hydraulics RecurDyn & SimulationX RecurDyn input Right SimulationX 유압구현 RecurDyn input Left 유압모델 15
Dynamics χ Hydraulics 해석결과 Displacement & Velocity of Piston Force of Piston 16
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
Dynamics χ Fluid 해석결과 RecurDyn result Particleworks result 18
Multi-Cosimulation RecurDyn & Particleworks & Simulink Simulink 제어로직구현 RecurDyn 을통해세탁기동역학모델구현 Particleworks 유체구현 Simulink 를통해세탁기에가해지는구동 Torque 를제어 RecurDyn 동역학모델링 Particleworks 를통한세탁기안의유체표현 19
Multi-Cosimulation 해석결과 RecurDyn result Angular Velocity Torque Particleworks result Vector & Velocity field Particle & Velocity field 20
Multi-Cosimulation RecurDyn & Particleworks & AMESim RecurDyn 동역학모델링 AMESim 을통해 Excavator 내부실린더의움직임에따른유압구현 Particleworks 를통한진흙입자생성및유체솔루션구현 RecurDyn 을통해 Excavator (Track LM) 동역학모델구현 AMESim 유압구현 Particleworks 유체구현 21
Multi-Cosimulation 해석결과 RecurDyn animation Displacement Hydraulic Force 22
3. Hardware Interface 23
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
Joystick Interface 제어로직구현 Simulink Joystick Matlab 의 Simulink Simulink block U-function dll 파일 RecurDyn 의 Co-link 25
Joystick Interface 해석결과 26
4. Conclusion 27
Conclusion 28
Control (Simulink, Labview) Particle Dynamics Fluid (Particleworks) Thermo Dynamics RecurDyn Electronics Hydraulics (AMESim, SimulationX) Ergonomics Joystick Interface (Matlab, Co-link) 29
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