An Open-Source Framework for Efficient Co-simulation of Fluid Power Systems

Robert Braun
Division of Fluid and Mechatronic Systems, Dept. of Management and Engineering, Linköping University, Sweden

Adeel Asghar
PELAB - Programming Environment Lab, Dept. of Computer Science, Linköping University, Sweden

Adrian Pop
PELAB - Programming Environment Lab, Dept. of Computer Science, Linköping University, Sweden

Dag Fritzson
SKF Group Technology, AB SKF, Göteborg, Sweden

Ladda ner artikelhttp://dx.doi.org/10.3384/ecp17144393

Ingår i: Proceedings of 15:th Scandinavian International Conference on Fluid Power, June 7-9, 2017, Linköping, Sweden

Linköping Electronic Conference Proceedings 144:39, s. 393-400

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Publicerad: 2017-12-20

ISBN: 978-91-7685-369-6

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


Simulation of fluid power systems typically requires models from multiple disciplines. Achieving accurate load dynamics for a system with complex geometry, for example, may require both a 1D model of the hydraulic circuit and a 3D multi-body model. However, most simulation tools are limited to a single discipline. A solution to these kinds of problems is co-simulation, where different tools are coupled and simulated together. Co-simulation can provide increased accuracy, improved modularity and facilitated collaboration between different organizations. Unfortunately, tool coupling typically requires tedious and error-prone manual work. It may also introduce numerical problems. For these reasons, co-simulation is often avoided as long as possible. These problems have been addressed by the development of an open-source framework for asynchronous co-simulation. Simulation tools can be interconnected through a stand-alone master simulation tool. An extensive range of tools is also supported via the Functional Mockup Interface standard. A graphical user interface has been implemented in the OpenModelica Connection Editor. System models can be created and edited from both a schematic view and a 3D view. Numerical robustness is enforced by the use of transmission line modelling. A minimalistic programming interface consisting of only two functions is used. An example model consisting of a hydraulic crane with two arms, two actuators and a hanging load is used to verify the framework. The composite model consists of nine multi-body models, one hydraulic system model and a controller. It is shown that models from various simulation tools can be replaced with a minimal amount of user input.


Co-simulation, system simulation, multi-body simulation, transmission line modelling


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