June 24 & 25, 2009, CIUP, Paris, FranceEMM 2009: Mechatronics for Vehicles and Production

1 LGEP Laboratoire de Gnie Electrique de Paris / SPEE-Labs, CNRS UMR 8507, Supelec, Universits Paris VI et Paris XI. Plateau de Moulon 91192 Gif sur Yvette cedex.

2 ESTACA, Ecole Suprieure des Techniques Aronautiques et de Construction Automobile, 34 rue Victor Hugo, 92300 Levallois-Perret

3 LISMMA SUPMECA, 3 Rue Fernand Hainaut, 93407 St-Ouen cedex4 SUPLEC, Dpartement Energie, 3 rue Joliot Curie, Plateau du Moulon, 91192 Gif-sur-Yvette5 ECS - ENSEA, 6 avenue du Ponceau, 95014 Cergy-Pontoise Cedex6 DASSAULT DATA Services, 10 rue Marcel Dassault CS 50502, 78946 Vlizy-Villacoublay7 RENAULT, Direction de l'Electronique Avance, Technocentre, 1 av. du Golf, 78288 Guyancourt8 VALEO Management Services, 43 rue Bayen, 75848 Paris Cedex

Modeling Guidelines and Tools Comparison forMechatronics System Design in Automotive Applications

- Application to a Motorized Hatchback -

G. Remy1, K. Ejjabraoui2, C. Larouci2, F. Mhenni3, R. Sehab2, P. Lefranc4,B. Barbedette2, S.A. Raka5, C. Combastel5, S. Cannou6, F. Cardon2,

P. Cuvelier2, C. Marchand1, B. Iizuka7, P. Bastard7, D. Barbier8

EMM 2009, 7th European Mechatronics Meeting: Mechatronics for Vehicles and Production

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June 24 & 25, 2009, CIUP, Paris, FranceEMM 2009: Mechatronics for Vehicles and Production

Summary

I Context of O2M / WP2-SP3

II The studied Mechatronic System

III An Evaluation of Existing Modeling Softwares

IV Modeling Guidelines using 5 different softwares

V Results Comparison

VI Conclusion

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June 24 & 25, 2009, CIUP, Paris, FranceEMM 2009: Mechatronics for Vehicles and Production

Context: MOVEO / O2M / WP2-SP3 1/2

Moveo is a French Automotive Cluster.

SYSTEM@TIC is the French competitiveness cluster of PARIS-REGION

The O2M project is integrated into the French Clusters Moveoand System@tic and focuses on :

Mechatronics Modeling and Design Toolsfor automotive applications.

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June 24 & 25, 2009, CIUP, Paris, FranceEMM 2009: Mechatronics for Vehicles and Production

Context: MOVEO / O2M / WP2-SP3 2/2

O2M includes different Work Packages (WP) and Sub-Projects (SP).

The WP2-SP3 PREDIM is dedicated to the design of high level mechatronics systems (multi-domain approach).

The SP3-PREDIMs main objectives are :- to compare actual multi-domain softwares- to develop softwares for the early design of mechatronics systems.

The team consists of about 30 persons:- among industrials: Renault, Valeo, Dassault Systmes- and laboratories: Estaca, Supmca (LISSMA), Sherpa

LGEP/Supelec (SPEElabs), ENSEA (ECS).

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June 24 & 25, 2009, CIUP, Paris, FranceEMM 2009: Mechatronics for Vehicles and Production

Mechatronics Systems in Automotive Applications

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A MotorizedHatchback

June 24 & 25, 2009, CIUP, Paris, FranceEMM 2009: Mechatronics for Vehicles and Production

Innovative functionality

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Studied System: Motorized Hatchback

June 24 & 25, 2009, CIUP, Paris, FranceEMM 2009: Mechatronics for Vehicles and Production

Components and Modeling Domains

Electrical Part: 2 DC Motors 2 4QVoltage Chopper 2 LC Filters

Mechanical Part: 2 Cylinders with gear reducers and ball-bearing screws Mechanical transmission (ball joint, spring, pivot joint)

Control Part: 2 PI current controller 1 PID angular position controller 1 angular position sensor

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June 24 & 25, 2009, CIUP, Paris, FranceEMM 2009: Mechatronics for Vehicles and Production

What is the best software for early design?

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Multi-domain approach ? Collaborative Design

Issues with Traditional Development

June 24 & 25, 2009, CIUP, Paris, FranceEMM 2009: Mechatronics for Vehicles and Production

One solution is the Model-based design

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June 24 & 25, 2009, CIUP, Paris, FranceEMM 2009: Mechatronics for Vehicles and Production

Softwares for multi-domain modeling

0D/1D Tools: Matlab/Simulink Dymola (langage MODELICA) Simplorer (langage VHDL-AMS) Excel AMESim Maple Pro-Design Saber PsPice 20-sim Cadence

2D/3D Tools Flux Comsol Maxwell Flotherm Adams Ideas ANSYS SolidWorks Nastran LMS Virtual.Lab Catia

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June 24 & 25, 2009, CIUP, Paris, FranceEMM 2009: Mechatronics for Vehicles and Production

Evaluation Criteria

Data Management: Development & Marketing (Maintenance, Update)Copyright Management (Data Accessibility,

Concurrent Engineering)Security of Model Trade (Intellectual Property)Management of multi-sites

Solving Methods: DAE Solver, ODE, PDE, Algorithm, Equations Types, Continuous and Discrete Coupling, Causality

Principle of Model Implementation (Procedural, Object-Oriented)

External Links: Accessibility of Model Library (Model Shariblity,Co-simulation, Rapid Prototyping , HIL)

Multi-Physics Coupling: Available Domains, Model Relevance, Available Coupling, Model Library

Tool use: IHM, Simplicity of use, Transparency, Training need

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June 24 & 25, 2009, CIUP, Paris, FranceEMM 2009: Mechatronics for Vehicles and Production

An Example of Evaluation: Simplorer 1/2

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June 24 & 25, 2009, CIUP, Paris, FranceEMM 2009: Mechatronics for Vehicles and Production

An Example of Evaluation: Simplorer 2/2

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June 24 & 25, 2009, CIUP, Paris, FranceEMM 2009: Mechatronics for Vehicles and Production

Data Management

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0,0

0,5

1,0

1,5

2,0

2,5

3,0

3,5

4,0

0D, 1D Tools

2D, 3D Tools

June 24 & 25, 2009, CIUP, Paris, FranceEMM 2009: Mechatronics for Vehicles and Production

Solving performances (ODE)

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0,0

1,0

2,0

3,0

4,0

5,0

6,0

0D, 1D Tools

2D, 3D Tools

June 24 & 25, 2009, CIUP, Paris, FranceEMM 2009: Mechatronics for Vehicles and Production

Domains of Physics and Model Relevance,

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0,0

0,5

1,0

1,5

2,0

2,5

3,0

3,5

4,0

Outil 0D, 1D

Outil 2D, 3D

Possible Coupling, Model Library

June 24 & 25, 2009, CIUP, Paris, FranceEMM 2009: Mechatronics for Vehicles and Production

Results Overview

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0,00,51,01,52,02,53,03,54,04,55,0

20SIMSaberSimplorerAMESimMatlab_SimulinkDymolaExcelMaplePro_designeCADENCEPsPiceComsolFluxMaxwellFlothermCATIAAdamsLMSANSYSSolidWorksIDEASNASTRAN

Data Management

Solving Techniques

Simplicity of use, Transparency, Training need

Domains of Physics and Model Relevance,

Possible Coupling, Model Library

External Links

June 24 & 25, 2009, CIUP, Paris, FranceEMM 2009: Mechatronics for Vehicles and Production

Weighted Global Evaluation of each software

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0,0

0,5

1,0

1,5

2,0

2,5

3,0

3,5

4,0

0D, 1D Tools

2D, 3D Tools

Matlab-Simulink,Dymola,

Simplorer,AMESim

June 24 & 25, 2009, CIUP, Paris, FranceEMM 2009: Mechatronics for Vehicles and Production

CAUSALITY PRINCIPLE

In physics, the causality principle defines thatCauses are prior to effects they produce.

During the modeling process of mechatronic systems, causality can be managed using different methods.The Modelling-Simulating softwares handle causalitydifferently.

There are two types of modeling regarding the causality:

The Causal Modeling

The Acausal (or Physical) Modeling:

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1f Js+

T

June 24 & 25, 2009, CIUP, Paris, FranceEMM 2009: Mechatronics for Vehicles and Production

Causal / Acausal VS Procedural / Declarative

Causal Modeling use a Procedural Language:

The model simulation will follow a predefined procedure and will fulfill the causality path of the model.

Acausal Modeling use Declarative Language:

All the model parameters are defined on the same way.The language specify equality and not affectation.

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June 24 & 25, 2009, CIUP, Paris, FranceEMM 2009: Mechatronics for Vehicles and Production

Matlab-Simulink-SimPowerSystems 7.6.0 (R2008a)

June 24 & 25, 2009, CIUP, Paris, FranceEMM 2009: Mechatronics for Vehicles and Production

The infinite search of the Accuracy

Block Choice

Level A

Level B

Level C

4Q DC Chopper Models

June 24 & 25, 2009, CIUP, Paris, FranceEMM 2009: Mechatronics for Vehicles and Production

AMESim

Acausal Modeling using dedicated library

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June 24 & 25, 2009, CIUP, Paris, FranceEMM 2009: Mechatronics for Vehicles and Production

LMS Imagine.Lab AMESim v8.0a

Solutions for Automotive and Ground Transportation dedicated for all major vehicle subsystems: internal combustion engines, transmissions, vehicle thermal management systems, vehicle systems dynamics as well as fluid systems related to engines and electrical

systems.

Vehicle engineering teams can simulate system performance during the early design stage to optimally balance multiple functional requirements and brand attributes.

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June 24 & 25, 2009, CIUP, Paris, FranceEMM 2009: Mechatronics for Vehicles and Production

AMEsim extra Librairies

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June 24 & 25, 2009, CIUP, Paris, FranceEMM 2009: Mechatronics for Vehicles and Production

Ansoft Simplorer v7.05 Build28

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Use of IEEE and Standard Library

June 24 & 25, 2009, CIUP, Paris, FranceEMM 2009: Mechatronics for Vehicles and Production

Language VHDL-AMS

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June 24 & 25, 2009, CIUP, Paris, FranceEMM 2009: Mechatronics for Vehicles and Production

Matlab-Simulink R2008b Simscape v3.0

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June 24 & 25, 2009, CIUP, Paris, FranceEMM 2009: Mechatronics for Vehicles and Production

Matlab-Simulink R2008b Simscape v3.0

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4ca isse

3hayon

2

Conn4

1Conn1

A P

vab

CS

1C

S2

CS

3

tigeverin1

entresortie

ref

rendementsur force

entre

refsortie

rendementsur couple

S O

reducteur

BF

pivotglissantR

C

frott

CS

1C

S2

CS

3

corpsverin

RCF

capteurforce1

RC F

capteurforce

BF

Universal

RC

RC

RC

RC

RC

T

TorqueSensor

RC W A

RotSensor1

RC W A

RotSensor F

BP

PS S

PS S

PS S

PS S

PS S

MRR1

p v Fc

JointSensor

force_verin

orce_resso

June 24 & 25, 2009, CIUP, Paris, FranceEMM 2009: Mechatronics for Vehicles and Production

Dymola

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June 24 & 25, 2009, CIUP, Paris, FranceEMM 2009: Mechatronics for Vehicles and Production 31

June 24 & 25, 2009, CIUP, Paris, FranceEMM 2009: Mechatronics for Vehicles and Production 32

Various Library

June 24 & 25, 2009, CIUP, Paris, FranceEMM 2009: Mechatronics for Vehicles and Production

Dymola

Multi-Engineering Systems Behavior modeling and simulation based on MODELICA

Can handle mixture of models: mechanical, electrical, hydraulic, chemical, thermodynamic, control, etc.

Availability of ready-to-use model libraries

Equation based open architecture

Object-oriented Modeling

Uses ModelicaLanguage for Reuse

Maintained and advanced by international design group

Utilizes automatic formula manipulation for efficiency33

June 24 & 25, 2009, CIUP, Paris, FranceEMM 2009: Mechatronics for Vehicles and Production

Somes Comparisons

Advantages Multi-tasking (Simulink) Errors Identification Use of Electrical and

mechanical Library Causality management Check of Units Homogeneity

(Simscape, Dymola) 3D View, easy 3D referencing

(Dymola, Simscape) Library with multi-level models

(Simple or Advanced Models) (AMESim)

Discrete Models (VHDL-AMS) User-friendly IHM (Dymola,

AMESim)

Drawbacks Algebric loops Complex Parametrisation of

some models Components may slow down

simulation Complex modeling of

backlash, bumper, friction Hard modeling of close

mechanical chain No model of flexible body Bad memory management Advanced user only

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June 24 & 25, 2009, CIUP, Paris, FranceEMM 2009: Mechatronics for Vehicles and Production

0 0.5 1 1.5 2 2.5 3 3.5 4 4.50

500

1000

1500

2000

2500

3000

3500

4000

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5-10

0

10

20

30

40

50

60

70

Some of the results: The hatchback opening

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Time (s)0 0.5 1 1.5 2 2.5 3 3.5 4 4.5-5

0

5

10

15

20

The DC motorcurrent (A)

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5-500

0

500

1000

1500

2000

2500

3000

The DC motorspeed (tr/min)

The cylinderforce (N)

The angularposition (deg)

Matlab-Simulink Simpower System masterMatlab-Simulink Simpower System slaveSimscape masterSimscape slaveAMESim masterAMESim slaveMatlab-Simulink masterMatlab-Simulink slaveDymola masterDymola slave

Time (s)

June 24 & 25, 2009, CIUP, Paris, FranceEMM 2009: Mechatronics for Vehicles and Production

Conclusion and perspective

Early Design of Mechatronics System need multi-domain software May be in the future, there will be standard like XML for interfacing software

Mechatronics design need mechanical, electrical and control modeling Future will see Thermal, Integration issue and CEM include in early design

Simulation are based on the solving of Causal or Acausal Modeling Optimization and Control of massive MIMO Systems will be the futures issues

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Thank you for your attention

Slide Number 1SummaryContext: MOVEO / O2M / WP2-SP31/2Context: MOVEO / O2M / WP2-SP32/2Mechatronics Systems in Automotive ApplicationsStudied System: Motorized HatchbackComponents and Modeling DomainsWhat is the best software for early design?One solution is the Model-based designSoftwares for multi-domain modelingEvaluation CriteriaAn Example of Evaluation: Simplorer 1/2An Example of Evaluation: Simplorer 2/2Data ManagementSolving performances (ODE)Domains of Physics and Model Relevance,Results OverviewWeighted Global Evaluation of each softwareCAUSALITY PRINCIPLECausal / Acausal VS Procedural / DeclarativeMatlab-Simulink-SimPowerSystems 7.6.0 (R2008a)The infinite search of the AccuracyAMESimLMS Imagine.Lab AMESim v8.0aAMEsim extra LibrairiesAnsoft Simplorer v7.05 Build28Language VHDL-AMSMatlab-Simulink R2008b Simscape v3.0Matlab-Simulink R2008b Simscape v3.0DymolaSlide Number 31Slide Number 32DymolaSomes ComparisonsSome of the results: The hatchback openingConclusion and perspective