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Computer-Aided Design of Mechatronic Systems Using 20sim 3.0

Computer-Aided Design of Mechatronic Systems Using 20sim 3.0. Jan F. Broenink 1 , Christian Kleijn 2 1 Control Laboratory (Faculty EE) and C.J. Drebbel Institute for Systems Engineering, , University of Twente, Enschede, Netherlands 2 Controllab Products B.V., Enschede, Netherlands

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Computer-Aided Design of Mechatronic Systems Using 20sim 3.0

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  1. Computer-Aided Design of Mechatronic Systems Using 20sim 3.0 Jan F. Broenink1, Christian Kleijn2 1Control Laboratory (Faculty EE) and C.J. Drebbel Institute for Systems Engineering, , University of Twente, Enschede, Netherlands 2 Controllab Products B.V., Enschede, Netherlands 1. Introduction 2. Formalism 3. 20sim State of Art 4. Application Example 5. Design Team 6. Conclusion

  2. 2. Formalism • Engineering systems • complex  structuring necessary • lumped approach: hierarchical submodels • connected submodels influence each other • contents submodels exactly be known • Encapsulation of physical-system submodels • interface as bilateral signal connections • formulae in declarative style: relations, not algorithms • non-causal modeling  compilation phase • Bond Graphs • direct representation of physical processes • domain independent, naturally be mixed with block diagrams • model processing efficiently: computational causal analysis • object-oriented physical systems modelling

  3. 3. 20sim: Modelling • Interactive: model entry & compilation • feedback as early as possible • hierarchically structured block-diagram, bond-graph, equation submodels • Interface: • ports: energy-ports (non-causal) and signal ports • parameters: tunable from higher levels • contents: • bond graph / block diagram • connections physical domain specific • equations • I.e. equalities; int() and diff() • icon: • placeholder only  own drawings (icon editor) • drawing primitives for documentation

  4. 3. 20sim: Model libraries • 20sim3.0 • directory listing of submodels • reusability: • encapsulation: bond graph paradigm, separation interface & content • documentation:basic comments + drawing primitives;automatic consistent documentation: future work • Library facility • OLMECO prototype model library facility • Model building • competent, reliable, confident, reusable • taxonomies of submodels

  5. 3. 20sim: Simulation and Animation • Own integrated Simulator • numerical methods from Netlib • parameter values in model editor and simulator • multiple plot windows • Animation • directX graphical libraries • controllable from time plot (just another view on data) • signal values shown in graph

  6. 4. Application Example • 3-DOF SCARA robot • Eurosim benchmark 11 • 2 revolute joints, 1 translational joint • simple PD control

  7. 5. Design Team • Developers: • Controllab Products BV • Former Students • Uni people • Testing & Resarch • Control laboratory • First developers of 20sim: prototyping • Research for tool development • Research on applications: Mechatronics

  8. 6. Conclusion • Futher develop 20sim • True multibond models • More design & controller design support • More towards complete (mechatronic) system development cycle • Model libraries • Ongoing Symbiosis • Industrial needs • Improvements by exploiting research work • More achievement in research due to better tool • Acknowledgements • Paul Weustink, Frank Groen • Theo de Vries • Demo CD’s available • http://www.rt.el.utwente.nl/20sim

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