AMESim-VL-Motion-Coupling-for-Customer

程磊LMSImagine.LabAMESim&Virtual.LabMotionCouplingLMSMasterClass程磊AMESim与Virtual.LabMotion联合仿真Virtual.LabMotionSystemmodel作动器模型产生的力/力矩被驱动部件的运动状态信息位移/速度/加速度电液系统模型机构动力学模型Virtual.LabVirtual.LabMotionMotionƒActuatorsƒForces/Torquesfromhydraulics/electrical/1DmechanicalsystemsƒMass&InertiachangesƒSensorsƒTranslationaldisplacement,velocity,accelerationƒAngulardisplacement,velocity,accelerationsƒMotioncurves,forceelements程磊AMESim与Virtual.LabMotion联合仿真AMESim与Virtual.LabMotion可以通过三种方式进行闭环耦合分析：ƒCo-Simulation方式ƒAMESim和VLMotion求解器在分析过程中同时运行，分别求解各自的模型，在设定的通讯步长上通过接口进行信息交换ƒ采样保持方法ƒMaster-Slave方式也称Coupled方式：VLMotion作为Master求解器ƒAMESim电液系统模型编译为dll文件，集成到VLMotion中，VLMotion作为主求解器，分析过程中由VLMotion进行积分求解ƒ此种方式可以将AMESim模型参数和变量导入VLMotion，即WatchParameter和WatchVariable，允许在VLMotion中直接修改AMESim模型的参数，而无需回到AMESim中修改，再重新导入ƒFunctionEvaluation方式ƒVLMotion模型方程通过坐标缩并形成ODE方程集成到AMESim中，作为AMESim的一个子模型，在求解过程中，AMESim求解器作为主求解器，负责进行积分计算，而VLMotion求解器仅负责评价函数结果可通过Optimus对AMESim和VLMotion机电耦合系统进行整体参数优化程磊CosimulationversusCoupledSimulationƒCoupledSimulationƒAllstateequations(fromMotionANDAMESim)aresolvedbytheMotionsolverƒMustuseControlInput/OutputƒCo-simulationƒBothSolversRunandcommunicateatadiscretetimeintervalƒStateequationsaresolvedbyMotionandAMESimsolversrespectivelyƒMustusePlantInput/OutputƒCommunicationdelaybetweensolvers(communicationinterval)Virtual.labMotionImagine.LabAMESimPost-processavailableinbothenvironments!Post-processavailableinbothenvironments!程磊Pre-InstallationforCoupledOptionƒInstallVisualStudio.Net2003ƒInstallAMESim8BƒCopyVCVARS32.batfromVisualStudio.Net2003installinto…\AMESim\v810ƒCopynmake.exefilefromVisualStudio.Net2003\Vc7\binto…\AMESim\v810ƒInstallVirtual.Lab8BSL1ƒCopyAMEQueryLib.dllfrom…\Virtual.Lab.R8B-SL1\intel_a\code\bindirectoryto…\AMESim\v810\win32directoryƒCopythewhole‘intel’folderfrom…\Virtual.Lab.R8B-SL1\DynMotionSolver\plant\ameto…\AMESim\v810\libƒChangetheAMEpathin‘VlStart_Solver.bat’toyourImagine.Labinstallationpath程磊InstallationguidelinesandprerequisitesƒAMESimusesaC++compilerforsimulation.ForcoupledsimulationwithLMSVirtual.LabtheMicrosoftVisualC++compilerhastobeused.SelecttheMicrosoftcompilerin[AMESim]OptionsAMESimPreferencesCompilation/ParametersAMESimpreferencesDifferentMicrosoftCompilerscanbeused:•MicrosoftVisualC++•MicrosoftVisual.netC++WhenusingVisualC++ExpressEditionƒCopythefilevcvars32.batfromtheC++installationtotheAMESiminstallationdirectoryƒCopythefileNMAKE.exetoyourinstallationdirectory程磊Pre-InstallationforCoSimulationƒInstallAMESimfirst,thenVirtual.LabƒWheninstallingVirtual.Lab,checkthe‘IntegratewithAmesim’ison(defaultoption).VerifythepathfoundbyVLMotioninstallertotheAmesiminstallationdirectory,alsoforCATIA,Easy5andMatlab,ifsuccessful,severallaunchoptionwillappearonthestartMenuƒInAMESimgoto:ModelingÆCategorypathlistÆaddpathƒAddthepathtotheAmesiminstallationendingwith“/libmotion”ƒAddanSystemEnvironment:ƒVLMOTIONSLV=…\Virtual.Lab.R8B-SL1\VirtualLab\DynMotionSolverƒWhenusingCoSimoption,launchAMESimfromtheStartMenu程磊GuidelinesƒCoupledsimulation(standardoption)ƒBetterfor“tightly”coupledsystems,especiallywithsmallAMESimmodelsƒVerystrongcouplingandfastdynamicsofthehydraulicfluidswouldrequireaverysmallcommunicationinterval(hencebigCPU)forstabilityifco-simulationwasusedƒCo-Simulation(nottobeusedblindly)ƒBetterfor“weakly”coupledsystems,especiallywithbigAMESimmodelsƒVeryloosecouplingandslowdynamicsresponsewouldsupportbiggercommunicationinterval(hencesmallerCPU)ƒReasonisthatthecommunicationoverheadismuchsmallerthantheadvantageofusingappropriatesolver.ƒGeneralcomments(alwaysvalidforco-simulation)ƒThesmallerthecommunicationinterval,thebettertheaccuracyandthebiggertheCPUused.Startingwith0.001second.ƒCommunicationintervalshouldbechangedcarefullybyfactor2MAXIMUM(upordown,dependingifbetterCPUtimeoraccuracyisrequested)becausetheresultsareverysensitivetothisparameter.程磊TipsƒAMESimusesMKSunits.MakesureLMSVirtual.LabMotionsolversettingsaresettoMKSUnitsorconverttheinputandoutputcontrolnodesbeforesendingthesignalstoandfromtheAMESimblock.ƒTakecarewiththesignconventions.DependingontheMotionelementandAMESimelementconnectedthroughtheinterfaceblock,thesignmayhavetobeinverted.程磊IntegratorsChoice程磊HowtolinkAMESimtoMotionInImagine.LabAMESimƒDCmotorwithitscontrolInLMSVirtual.LabMotionƒdrivinggearoftheseatWhenactivated(leftsignal),theDCmotormakesthedrivinggearrotateModels:ƒAMESim:elect_motor_092006.ameƒMotion:MODELE_COMPLET.CATAnalysis程磊Interfacesetup–step1Step1:AMESimexportIconƒInterfaceCreateExportIconƒChosetypeofinterface“VL.Motion”ƒDefineinputsandoutputs程磊Interfacesetup–step2Step2:ConnectexportIconƒInsertTWSG01fromtheMechanicalLibrary(velocityin,torqueout)ƒAddkgainsinordertobeabletoinvertthesignbetweenAMESimvariablesandMotionvariablesƒConnectthebuildingblocksRemarksAMESimusesMKSunitsSignconventionsbetweenMotionandAMESimaredifferent程磊Interfacesetup–step3Step3:FinalizeAMESimmodelƒGotoParameterMode:AMESimnowcompilesthedllthatMotionisgoingtouseƒGotoRunModeƒSelectRunParametersandclickOK:thiscreatesa*.simfilerequiredbytheMotionsolverƒLeaveAMES