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rd
of the 3 International Modelica Conference,
Linköping, November 3-4, 2003,
Peter Fritzson (editor)
Paper presented at the 3rd International Modelica Conference, November 3-4, 2003,
Linköpings Universitet, Linköping, Sweden, organized by The Modelica Association
and Institutionen för datavetenskap, Linköpings universitet
Program Committee
Peter Fritzson, PELAB, Department of Computer and Information Science,
Linköping University, Sweden (Chairman of the committee).
Bernhard Bachmann, Fachhochschule Bielefeld, Bielefeld, Germany.
Hilding Elmqvist, Dynasim AB, Sweden.
Martin Otter, Institute of Robotics and Mechatronics at DLR Research Center,
Oberpfaffenhofen, Germany.
Michael Tiller, Ford Motor Company, Dearborn, USA.
Hubertus Tummescheit, UTRC, Hartford, USA, and PELAB, Department of
Computer and Information Science, Linköping University, Sweden.
Multi-Domain Simulation:
Mechanics and Hydraulics of an Excavator
points along the connecting line. This allows to In a first step, the mechanical part of the excavator
easily model the essential mass properties (mass is simulated without the hydraulic system to test
and center of mass) of the hydraulic cylinders with this part separatly. This is performed by attaching
only a very small computational overhead. translational springs with appropriate spring con-
The jointRRR component (see right part of stants instead of the hydraulic cylinders. After the
Figure 6) is an assembly element consisting of 3 animation looks fine and the forces and torques in
revolute joints that form together a planar loop the joints have the expected size, the springs are
when connected to the arm. A picture of this part replaced by the hydraulic system described in the
of an excavator, a zoom in the corresponding next sections.
Modelica schematic and the animation view is All components of the new MultiBody li-
shown in Figure 7. When moving revolute joint brary have “built-in” animation definitions, i.e.,
“rev4” (= the large red cylinder in the lower part of animation properties are mostly deduced by default
Figure 7; the small red cylinders characterize the 3 from the given definition of the multi-body system.
revolute joints of the jointRRR assembly compo- For example, a rod connecting two revolute joints
nent) the position and orientation of the attachment is by default visualized as cylinder where the di-
points of the “left” and “right” revolute joints of ameter d is a fraction of the cylinder length L (d =
the jointRRR component are known. There is a L/40) which is in turn given by the distance of the
non-linear algebraic loop in the jointRRR compo- two revolute joints. A revolute joint is by default
nent to compute the angles of its three revolute visualized by a red cylinder directed along the axis
joints given the movement of these attachment of rotation of the joint. The default animation (with
points. This non-linear system of equations is only a few minor adaptations) of the excavator is
solved analytically in the jointRRR object, i.e., in a shown if Figure 8.
robust and efficient way. For details see (Otter et.
al. 2003).
of the excavator only the components are shown in could be built with the components from the hy-
Figure 12 that are directly coupled with hydraulic draulics library but would require a considerable
elements, such as line force elements to which the amount of time that is usually not available at the
hydraulic cylinders are attached. beginning of a project.
In Tables 1 and 2, the implementation of the
8. Model of LS Control LS control in form of equations is shown. Usually,
it is recommended for Modelica models to either
For this study the following approach is chosen: use graphical model decomposition or to define the
Model the mechanics of the excavator, the cylin- model by equations, but not to mix both descrip-
ders and to a certain extent the pump and metering
valves in detail because only the parameters of the Table 1 Modelica code for definition for constants,
parameters and variables for LS control system
components will be changed, the general structure
// Definition of variables,
is fixed. This means that the diameter of the bucket // parameters and constants
cylinder may be changed but there will be exactly import SI = Modelica.SIunits;
one cylinder working as shown in Figure 1. That is SI.Pressure delta_p1;
different for the rest of the hydraulic system. In SI.Pressure delta_p2;
this paper a Load Sensing system, or LS system for SI.Pressure pump_ls;
short, using one pump is shown but there are other SI.Pressure pump_ls1;
concepts that have to be evaluated during an initial SI.Pressure pump_ls2;
design phase. For instance the use of two pumps, SI.Pressure dp_ref(start = 15e5,
fixed = true);
or a separate pump for the swing. Boolean pump_q_max;
The hydraulic control system can be set up Boolean pump_p_max(start = false,
using meshed control loops. As there is (almost) no fixed = true);
way to implement phase shifting behavior in
purely hydraulic control systems the following ge- parameter Real k_LS = 1e-5;
neric LS system uses only proportional controllers. parameter SI.Pressure p_max = 415e5
A detailed model based on actual compo-
nents would be much bigger and is usually not
available at the begin of an initial design phase. It
tion forms on the same model level. For the LS circuit above and access the input and output sig-
system this is different because it has 17 input sig- nals directly. For example, ”metOri1.port_A.p”
nals and 5 output signals. One might built one used in table 2 is the measured pressure at port_A
block with 17 inputs and 5 outputs and connect of the metering orifice metOri1. The calculated
them to the hydraulic circuit. However, in this case values of the LS controller, e.g., the pump flow
it seems more understandable to provide the equa- rate “pump.inPort.signal[1] = ...” is the signal at the
tions directly on the same level as the hydraulic
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