Konferensartikel

A Modelica Contact Library for Idealized Simulation of Independently Defined Contact Surfaces

Felix Oestersötebier
Control Engineering and Mechatronics, Heinz Nixdorf Institute, University of Paderborn, Paderborn, Germany

Peng Wang
Control Engineering and Mechatronics, Heinz Nixdorf Institute, University of Paderborn, Paderborn, Germany

Ansgar Trächtler
Control Engineering and Mechatronics, Heinz Nixdorf Institute, University of Paderborn, Paderborn, Germany

Ladda ner artikelhttp://dx.doi.org/10.3384/ecp14096929

Ingår i: Proceedings of the 10th International Modelica Conference; March 10-12; 2014; Lund; Sweden

Linköping Electronic Conference Proceedings 96:97, s. 929-937

Visa mer +

Publicerad: 2014-03-10

ISBN: 978-91-7519-380-9

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

Abstract

Modeling of multibody mechanics plays a central role in the design of mechatronic systems. In technical use-cases; they often contain loose couplings; where contact is possible. We present a ready-to-use contact library in Modelica. It comprises surface definitions for simple contact surfaces; which can be connected with multibodies of the Modelica Standard Library. It implements a force-based approach between single contact points. The contact forces are calculated in configurable non-central contact blocks. Exemplarily; the results of three experiments are shown and compared to benchmark simulations.

Nyckelord

Contact library; simple contact surfaces; non-central contact block; contact forces

Referenser

[1] F. Bauer, J. Gausemeier, D. Köchling, F. Oestersötebier: Approach for an Early Validation of Mechatronic Systems using Idealized Simulation Models within the Conceptual Design. In: Proceedings of the 5th CIRP Conference on Industrial Product-Service Systems, Bochum, March 14-15, 2013

[2] T. Juhász. Advanced Solutions in Object-Oriented Mechatronic Simulation. Ph.D. Thesis, Dept. of Control Engineering and Information Technology, Budapest University of Technology and Economics, 2008

[3] M. Otter, H. Elmqvist, J. Díaz López. Collision Handling for the Modelica MultiBody Library. In: Proceedings of the 4th International Modelica Conference, Hamburg, March 7-8, 2005

[4] G. Hippmann. Modellierung von Kontakten komplex geformter Körper in der Mehrkörperdynamik. Ph.D. Thesis, Vienna University of Technology, 2004

[5] K. L. Johnson. Contact Mechanics. Cambridge University Press, Cambridge, 1985

[6] J. J. Kalker. Three-dimensional elastic bodies in rolling contact. Kluwer Academic Publishers, Norwell, 1990

[7] W. Sextro. Dynamical contact problems with friction. Springer-Verlag, Berlin, Heidelberg, 2007

[8] D. W. Marhefka, D. E. Orin. A Compliant Contact Model with Nonlinear Damping for Simulation of Robotic Systems. IEEE Transactions on Systems, Man, and Cybernetics, 29(6), 1999

[9] H. M. Lankarani, P. E. Nikravesh. Continuous Contact Force Models for Impact Analysis in Multibody Systems. Nonlinear Dynamics, 5, 1994

[10] K. H. Hunt, F. R. E. Crossley. Coefficient of restitution interpreted as damping in vibroimpact. ASME J. Appl. Mech, 1975

[11] C. Makkar, W. E. Dixon, W. G. Sawyer, G. Hu. A New Continuously Differentiable Friction Model for Control Systems Design. In: Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Monterey CA, July, 2005

[12] V.L. Popov. Kontaktmechanik und Reibung. Springer-Verlag, Berlin, Heidelberg, 2009

[13] B. Roh, H. Aum, D. Bae, H. Cho, H. Sung. A Relative Contact Formulation for Multibody System Dynamics. KSME International Journal, 14(12): 1328-1336, 2000

Citeringar i Crossref