Dynamic System Modeling, Simulation, and Analysis Using MSC.EASY5

1. Dynamic System Modeling, Simulation, and Analysis Using MSC.EASY5 Introductory Class EAS101 Course Notes September 2005 EAS101 Introduction to MSC.EASY5 - Chart 1 E5*V2005*Z*Z*Z*SM*EAS101-NT1

2. Class Outline • MSC.EASY5 Overview • Getting Started • Help and Documentation • Model Building & Simulation • Operating Point and Steady State Analysis • Linear Analyses • Data Tables and the Matrix Editor • Analysis Tools & Methodology • Simulation and Integration • Interactive Simulation • Miscellaneous Topics • MSC.EASY5 Architecture • Writing Code in MSC.EASY5 • Summary EAS101 Introduction to MSC.EASY5 - Chart 2

3. Introduction to Dynamic System Modeling, Simulation, and Analysis Using MSC.EASY5 Overview of MSC.EASY5 EAS101 Introduction to MSC.EASY5 - Chart 3

4. MSC.EASY5 Overview Levels of Dynamic System Simulation Fidelity • Physical systems can be simulated at many levels of detail. The correct • level depends on the purpose of the simulation and the physics desired in the model. • 1. Atomic level - Uses equations from quantum mechanics • Purpose: Molecular level effects. • Applications: nuclear physics. • 2. Microscopic (or distributed parameter) - Uses partial differential equations • Purpose: Study quantities that vary significantly over the points in a geometric object. • Applications: Detailed aerodynamics, impact analysis, component analysis. • 3. Macroscopic (or lumped parameter) - Uses ordinary differential equations • Purpose: Study quantities that vary in time but can be averaged over spatial components. • Applications: Flight controls, hydraulic system analysis, electric power system control • 4. Systems analysis - Uses algebraic equations with time delays • Purpose: Study quantities that effectively change value instantaneously atdiscrete instances of time. • Applications: Scheduling, communications. • Each level requires orders of magnitude more effort than the next highest • but provides generally more accurate results. • MSC.EASY5 models dynamic systems at Level 3. EAS101 Introduction to MSC.EASY5 - Chart 4

5. What is MSC.EASY5? • Engineering Software Tool • Used to model, simulate, analyze, and design complex dynamic systems • Can be dynamic, electrical, pneumatic, hydraulic, mechanical,... • Complete graphical user interface • Used for intermediate level of detail modeling and analysis • More detailed than discrete event or steady-state tools • Less detailed than finite element tools • Models use nonlinear, discontinuous algebraic, differential, and difference equations EAS101 Introduction to MSC.EASY5 - Chart 5

6. What is MSC.EASY5? • Model Building Tool • Models can be built in different ways • Use MSC.EASY5 general purpose blocks (integrators, saturation, sums,...) • Use MSC.EASY5 libraries for specific application areas • Environmental control • Thermal-hydraulic • Drive train • Vapor cycle • Electric drive • Write your own equations in FORTRAN or C components • Call external FORTRAN or C subroutines and functions • Build your own application libraries EAS101 Introduction to MSC.EASY5 - Chart 6

7. What is MSC.EASY5? • Analysis Tool • Includes nonlinear simulation as well as linear analyses and plotting. • Types of analyses: • Steady state • Find the values the plant would settle out to after an initial transient • Simulation – time response • How does the plant respond to a command or a disturbance? • Model linearization • Determine the stability of the system • For control system design • Also for understanding system • Frequency response between any two points in model • Matrix Algebra Tool • Controls design • Data analysis before or after other analyses • Root locus, stability margins, eigenvalue sensitivity, power spectral density EAS101 Introduction to MSC.EASY5 - Chart 7

8. What is MSC.EASY5? • Interface Tool • Open architecture provides easy access to a broad set of software(MSC.ADAMS, LMS Virtual.LAB, MATLAB/Simulink, MSC.NASTRAN, FORTRAN code, C code, and others) EAS101 Introduction to MSC.EASY5 - Chart 8

9. MSC.EASY5 Overview MSC.EASY5 is Several Programs • Programs you interact with: • MSC.EASY5 main window • Where you construct your model schematic • Also used for data entry and controlling analyses • Plotter • Visualize the results of the analyses • Icon Editor • Create custom graphic representations for your components • Create component on-line documentation • Matrix Algebra Tool (MAT) • Programs that run in the background • Model generator • Translates your schematic diagram into a FORTRAN subroutine of model equations called EQMO • Analysis/simulation program • Where the actual computation occurs • Custom built for each model • Library maintenance and model documentation programs EAS101 Introduction to MSC.EASY5 - Chart 9

10. Block Diagram Modeling Approach EAS101 Introduction to MSC.EASY5 - Chart 10

11. Submodels Help Visualize Complex Schematics Submodels expand to lower-level models . . . . EAS101 Introduction to MSC.EASY5 - Chart 11

12. Nonlinear Simulations and Linear Analyses Use Same Model • Find an operating point • Simulation • Normal • Monitor • Interactive • Person/Hardware-in-the-loop • Linear(ized) Analysis • Linear Model • Transfer Function/ Frequency Response • Root Locus • Eigenvalue Sensitivity • Power Spectral Density EAS101 Introduction to MSC.EASY5 - Chart 12

13. Nominal Simulation - Transient Response • Simulate transient response of dynamic system • Simulation data can be view as simulation executes • (using Monitor Simulation feature) • Plot and Print data after simulation has completed EAS101 Introduction to MSC.EASY5 - Chart 13

14. Interactive Simulation • Interact with a simulation using realtime I/O components, while the simulation is running EAS101 Introduction to MSC.EASY5 - Chart 14

15. Linearized Analysis • MSC.EASY5 automatically linearizes the model • Develops frequency-domain model • (s- or z- plane) design/analysis • Generates linear model • Generates full-form linear model - A, B, C, and D matrices • Calculates eigenvalues • Calculates system modal matrix - eigenvectors • Calculates observability and controllability matrices • Debugs simulations EAS101 Introduction to MSC.EASY5 - Chart 15

16. Transfer Function • Apply a set of linear analysis tools • Transfer function generation • Calculates poles, zeros, and leading coefficient • Frequency response analysis Nyquist Bode Nichols EAS101 Introduction to MSC.EASY5 - Chart 16

17. Root Locus • Root Locus analysis • Nonlinear method • Accurately tracks system nonlinearities • Root Locus parameter can be any system parameter. • Much more flexible than classical method • Saves costly simulation runs • Applicable to hybrid system models EAS101 Introduction to MSC.EASY5 - Chart 17

18. Other Linear Analyses • Stability Margins Analysis • Determine maximum and minimum values for system parameters that maintain system stability • Calculates oscillation frequencies at stability boundaries • Eigenvalues Sensitivity Analysis • Measures the sensitivity of system eigenvalues to a change in any system parameter • Power Spectral Density Analysis • Calculates energy content of an input and output signal of the linearized system • Uses a frequency response method EAS101 Introduction to MSC.EASY5 - Chart 18

19. MSC.EASY5 and Other Tools •100% GUI from start to finish • Model dynamic systems - Differential equations (continuous) - Difference equations (discrete) - Algebraic equations - Differential algebraic equations (DAE) • Suite of tools for linear/nonlinear analysis • Complete plotting package MSC.EASY5 Graphical Modeling Analysis & Plotting Matrix Algebra Tool Data Analysis & Calculator Extensions Link to External Programs • Multi-Body Dynamics - MSC.ADAMS - Pro/Mechanica - LMS Virtual.Lab Motion • Finite State Machines • MSC.NASTRAN • Others EAS101 Introduction to MSC.EASY5 - Chart 19

20. Commercial Aircraft Automotive, Off-Highway & Industrial MSC.EASY5 History EASY5’s Development Spans Three Decades and Involves Over 650 Years Military & Aerospace 1975 1980 1985 1990 1995 2005 2000 Ricardo Fuel Cell Library Realtime Toolkit released EASY5 commercialized GUI revamping & native windows version EASY4 developed for US Air Force to analyze aircraft environmental control systems EASY5 UNIX workstation version released Gas Dynamics Library Ricardo Powertrain and Engine Libraries released RicardoElectric DriveLibrary Electric Drive Library EASY5 X Window version released Windows NT DADS link MATLAB Interface MATRIXx Interface EASY5 developed by Boeing for dynamic and control system analysis. MDI acquires EASY5 from Boeing & MSC acquires MDI Thermal Hydraulic Library released EAS101 Introduction to MSC.EASY5 - Chart 20

21. MSC.EASY5 Customers MSC.EASY5 customers include, in part . . . Allison Engine Co. Baker Hughes Intek Boeing British Aerospace Case Company CEMOTOR-CNR Daewoo Heavy Industries Eaton Corporation Ford Motor Company Fuji Heavy Industries GEC Marconi General Dynamics General Electric General Motors Hamilton Standard Hughes Aircraft Husco International ITT Automotive John Deere Learjet, Inc. Lockheed Martin Mitsubishi Electric Corp. Murata Mfg. Co. Ltd. NASA Nissan Motor Co. Pratt & Whitney Raytheon Ricardo FFD SAAB Samsung Heavy Ind. Sikorsky Aircraft Sundstrand Aerospace Teijin Seiki Co., Ltd. Toshiba Corp. Unisa - Jecs Yamaha Motor Co. EAS101 Introduction to MSC.EASY5 - Chart 21

22. Commercial Applications MSC.EASY5 applications include, in part . . . Transmissions Active Suspension Systems Electric Power Control Systems Anti-Lock Braking Systems Hydraulic Power Systems Internal Combustion Engines Diesel Engines Electric Drive Systems Jet Engines Satellite Dynamics Pneumatic Systems Heating/Air-Conditioning Systems Vapor-Compression Cycle Systems Diesel-Electric Locomotives Robotics Flight Control Systems Steel Mill Rolling Systems Nuclear Power Plants Hybrid Vehicles Construction Machinery Agricultural Equipment Missiles EAS101 Introduction to MSC.EASY5 - Chart 22

23. Example/Demo • Simple example to show process from start to finish • Part 1 - Model Building • Part 2 - Simulation • Part 3 - Analysis EAS101 Introduction to MSC.EASY5 - Chart 23

24. TF Z1S + Z0 AF S2 + P1S + P0 Example/Demo Model Building Process Overview 2nd: Convert to engineering block diagram. 3rd:Translate to EASY5 block diagram. 1st: Define system dynamics. S_Out_TF Finally: Build MSC.EASY5 model on workstation. EAS101 Introduction to MSC.EASY5 - Chart 24

25. Example/Demo How to Represent Your Model • Describe systems using: • Equations • Transfer functions • Physical devices • Tables • Systems are modeled/represented as a schematic block diagram. • MSC.EASY5 translates block diagram into: • Differential equations • Difference equations • Algebraic equations • Nonlinear system: . x = State Vector x = Rate Vector u = Input Vector t = Time y = Output Vector . x= f(x, u, t) y = g(x, u, t) where: EAS101 Introduction to MSC.EASY5 - Chart 25

26. Example/Demo Schematic Blocks – System Components • Model definition is a four-step process • Step 1: Drag required components onto the schematic pad. EAS101 Introduction to MSC.EASY5 - Chart 26

27. Schematic Connections Are Physical Connections • Step 2: Establish data flows by connecting component outputs to inputs. Inputs Pending Connection Outputs EAS101 Introduction to MSC.EASY5 - Chart 27

28. Converts schematic to equations • Sorts all algebraic equations • Generates source code Example/Demo Model Builder • Step 3: Create executable form of model by initiating model build process. Model Builder Program Source code then compiled and linked to analysis routines EAS101 Introduction to MSC.EASY5 - Chart 28

29. Example/Demo Define parameters, initial conditions, and tables Define model data for each component. Step 4: Parametric data Component data table Initial condition data EAS101 Introduction to MSC.EASY5 - Chart 29

30. Example/Demo Tables= f (time) or f (independent vars.) Empirical data approach Measured data converted to table-lookup format EAS101 Introduction to MSC.EASY5 - Chart 30

31. Example/Demo Set Up and Run Analyses • Set up and run analysesusing pre-designed data forms • For example, a simulation is executed as follows: 1) Enter Title (optional) 2) Select integration method. 3) Enter Start & Stop Time 4)Enter Time Increment value. 5) Identify outputs to plot. 6) Select Execute. EAS101 Introduction to MSC.EASY5 - Chart 31

32. Example/Demo Execute Analysis • After execution, analysis data is automatically displayed in printed or plotted format PRINT LISTING PLOT DATA EAS101 Introduction to MSC.EASY5 - Chart 32

33. Example/Demo Plotter - Zoom Feature • Zoom in on any portion of the plotted data using your mouse EAS101 Introduction to MSC.EASY5 - Chart 33

34. Example/Demo Plotter - Locate Feature • Plot locate feature displays exact numerical values Activelocater EAS101 Introduction to MSC.EASY5 - Chart 34

35. Summary • Modeling • Large, complex systems • Nonlinear and discontinuous dynamics • Allows for systems approach - schematic diagrams versus block diagrams • Hybrid systems (analog + digital) easily modeled and analyzed • Predefined library of components • User-defined libraries and components • Analysis • Linear and nonlinear analysis performed on same model • 100% graphical-user-interface to setup and execute analyses • Complete plotting package • Open Architecture • Provides access to a broad set of software tools EAS101 Introduction to MSC.EASY5 - Chart 35

36. Introduction to Dynamic System Modeling, Simulation, and Analysis Using MSC.EASY5 Getting Started with MSC.EASY5 EAS101 Introduction to MSC.EASY5 - Chart 36

37. Getting Started With MSC.EASY5 • Focus • Getting familiar with MSC.EASY5 • Learning the basics - mouse, GUI, menus • Outline • Modeling fundamentals and methods • MSC.EASY5’s graphical-user-interface (GUI) • MSC.EASY5 fundamentals • Build and simulate a simple model EAS101 Introduction to MSC.EASY5 - Chart 37

38. Different Modeling Methods • Two basic modeling methods used in MSC.EASY5 • Block diagram method: represent every equation with simple blocks • System diagram method: unique to MSC.EASY5, model at system’s level using components • Example of Spring-Mass-Damper model using both methods • This model will be built using both methods in the tutorials that follow Block Diagram Model = 7 blocks System Diagram Model = 2 components EAS101 Introduction to MSC.EASY5 - Chart 38

39. Modeling Tutorial Mass-Spring-Damper Model Mass-Spring-Damper Equations x +x o k= 50 n/s k b= 10n/m/s Fext m b x=0 • MSC.EASY5 Block Diagram • Engineering Block Diagram k Fk .. . - SF x x Fexternal 1 ò ò x + dt dt - m Fb b EAS101 Introduction to MSC.EASY5 - Chart 39

40. Modeling Tutorial Starting the Tutorial • To start MSC.EASY5: • In a UNIX or MSC.EASY5 DOS shell enter: easy5x • In Windows use: Start > Programs > MSC.Software > MSC.EASY5 2005 > MSC.EASY5 or • - Double-click on MSC.EASY5 desktop icon (Windows) • Model Open Dialog: Select existing model Select directory Enter new model name • Enter a new model name:mass EAS101 Introduction to MSC.EASY5 - Chart 40

41. Modeling Tutorial MSC.EASY5 GUI • MSC.EASY5 Main Window Model Name (and Path) Submodel Toolbar Main Menu File Toolbar Analysis Toolbar Schematic Scroll Bar EditingToolbar Schematic Pad Message Line Message Log • Mouse Use CLICK-C (both buttons) examine DOUBLE CLICK-L examine component/connection CLICK-R (HOLD) pop-up menu CLICK-L select CLICK-L (HOLD) group select SHIFT + CLICK-L (HOLD) pan schematic EAS101 Introduction to MSC.EASY5 - Chart 41

42. Modeling Tutorial Adding Components • Select component to add: SF - Step Function Generator • First select Add Component pushbutton to open the Add Components window. • Select desired library/group/component > drop component into model. Add Components Window (docked) Add Components Button Library List 1. Select Group. Group list 2. Select Component. 4. Press left mouse button to drop component in place. Component window pane 3. Move mouse & component across schematic. Input field EAS101 Introduction to MSC.EASY5 - Chart 42

43. Modeling Tutorial Add remaining components • The first component has been added. Now add remaining components in the order shown. • Group: Component: • Sum/Multiply/Divide MC Multiply and Add • Sum/Multiply/Divide DI Divide • Integrators IN Integrator • Integrators IN Integrator (add a second integrator block) • Sum/Multiply/Divide GN Gain Block (add it below the DI block) • Sum/Multiply/Divide GN Gain Block (add a 2nd gain block above IN) To change icon to Feedback Gain, select GN. (CLICK-L) and CLICK-R and hold for pop-up menu. Select Icon. EAS101 Introduction to MSC.EASY5 - Chart 43

44. Modeling Tutorial Connecting Components • Connecting components is a simple process: • Select the “from” component • Select the “to” component • Connect DI to IN (this connects the acceleration • into the integrator to calculate velocity). • Connection line is automatically drawn as shown: • Output from DI (named S_Out_DI) is connected into IN • Connection line is labeled with the output variable name S_Out_DI • Finish connecting components: • Connect SF block to MC [ Port Out from SF to Port In1 of MC] • Connect MC to DI (this connects the total force to DI, which divides this by the mass to output acceleration). [Port Out from MC to Port Num of DI] • Connect IN to IN2 (this connects the velocity into the integrator to calculate position). • Connect IN2 to GN2 (the upper GN component; this feeds back position). • Connect GN2 to MC (this feeds back the spring force) [Port Out of GN2 to Port In2 of MC] • Connect IN to GN (this feeds back velocity) • Connect GN to MC (this feeds back the damping force) EAS101 Introduction to MSC.EASY5 - Chart 44

45. Modeling Tutorial Mass-Spring-Damper Model EAS101 Introduction to MSC.EASY5 - Chart 45

46. Modeling Tutorial Selecting Menu Items • Review menu selection techniques • Using mouse: • Select menu item with a single Click-L or Hold-L (hold left mouse button) • Using keyboard: • To access main menuuse <alt>, and then enter any underlined menu character • Example: To open File menu, enter <alt>F • To select menu options: use underlined character, or, arrow keys • Example: To select Save from File menu, enter S • Using accelerator keys • Enter: <Ctrl>[accelerator key] • Example: To selectSave from File menu, enter <Ctrl>S • Save model using any of the above methods • Model version number increases each time model is saved: mass.1 • Multiple versions saved; you can return to old versions EAS101 Introduction to MSC.EASY5 - Chart 46

47. Modeling Tutorial Toolbars Navigation Toolbar Submodel Toolbar File Toolbar Editing Toolbar plot current results Analysis Toolbar EAS101 Introduction to MSC.EASY5 - Chart 47

48. Modeling Tutorial Manipulating the Schematic EAS101 Introduction to MSC.EASY5 - Chart 48

49. Modeling Tutorial Component Data Table • Component inputs/outputs are defined in the Component Data Table (CDT) • To examine and edit a CDT, click on the appropriate component using the middle mouse button, or double click-L on the component • Examine the SF component: Component title Component name (library) Documentation/ Configuration Provides information about the component and ways of configuring it Inputs defines input parameters and connections Output States defines state data initial conditions, error controls Output Variables displays outputs that can be connected and/or printed/plotted Info provides detailed info regarding component details, usage, and configuration EAS101 Introduction to MSC.EASY5 - Chart 49

50. Modeling Tutorial Edit Component Data Table • Define input parameters • Define time of step input T0=0.2 • Point to Value0.9999and enter: 0.2 <Return> • Define external force step input value STP=20 EAS101 Introduction to MSC.EASY5 - Chart 50