Konferensartikel

Suitability of Different Real-Time Solvers for a Model-Based Engineering Toolchain using Industrial Rexroth Controllers

Nils Menager
Bosch Rexroth AG, Lohr a. Main, Germany

Rüdiger Kampfmann
Bosch Rexroth AG, Lohr a. Main, Germany

Niklas Worschech
Bosch Rexroth AG, Lohr a. Main, Germany

Lars Mikelsons
Bosch Rexroth AG, Lohr a. Main, Germany

Ladda ner artikelhttp://dx.doi.org/10.3384/ecp15118883

Ingår i: Proceedings of the 11th International Modelica Conference, Versailles, France, September 21-23, 2015

Linköping Electronic Conference Proceedings 118:96, s. 883-891

Visa mer +

Publicerad: 2015-09-18

ISBN: 978-91-7685-955-1

ISSN: 1650-3686 (tryckt), 1650-3740 (online)

Abstract

Due to the increasing complexity of technical systems, model-based engineering is getting more and more important during the development process of new products. The code generation from models and the usage of this code on hardware targets is one important feature of model-based development. To execute this code on the hardware device, a simulation runtime is additionally required, which offers numerical methods to solve the model equations. To use generated code on a controller, the simulation has to be executed in real-time, which is a huge requirement for the solver. In this work, a Modelica-based open source toolchain for model-based engineering with Rexroth controllers is presented, which is used for virtual commissioning of a typical hydromechanical system on a standard Rexroth PLC. Therefore, instead of parameterizing the controller directly on the real system, the control algorithm on the PLC is connected to the system model, which is additionally executed on the controller in parallel to the existing PLC application. Doing this, the commissioning times can be reduced significantly, as the commissioning process can already be started during the build-up of the system using a simulation model of the system. As hydro-mechanical systems are in general mathematically stiff, the choice of the solver for the system model equations is not arbitrary. In this work, five different real-time solvers, beginning with a simple explicit Euler through to more complex linearly implicit methods, are tested on a single hydraulic axis. Furthermore, typical issues like state events as well as algebraic loops are discussed in context of real-time simulation requirements.

Nyckelord

Real-time simulation; Modelica; Hardware-In-The-Loop; code generation; model-based engineering; real-time solver

Referenser

W. Braun, S. Gallardo-Yances, K. Link, and B. Bachmann. Fast simulation of fluid models with colored jacobians. In Proceedings of the 9th Modelica Conference, Munich, Germany, Modelica Association, 2012.

F. E. Cellier and E. Kofman. Continuous System Simulation. Springer, 2006.

E. Engels and T. Gabler. Universelle Programmierschnittstelle für Motion-Logic Systeme. In Struktur, Funktionen und Anwendung in Forschung und Lehre, Tagungsband AALE, 2012.

E. Hairer and G. Wanner. Solving Ordinary Differential Equations II - Stiff and Differential-Algebraic Problems. Springer, 2002.

A. Hofmann, S. Schweig, and L. Mikelsons. Virtuelle Inbetriebnahme mechatronischer Systeme unter Einbeziehung realer Industriesteuerungen von Bosch Rexroth. In Tagungsband Mechatronik 2015, VDI Mechatroniktagung 2015 am 12.-13. März 2015 in Dortmund, 2015.

J. Lang and J. Verwer. ROS3P - an accurate third-order Rosenbrock solver designed for parabolic problems. BIT Numerical Mathematics, 41(4):731–738, 2001.

Citeringar i Crossref