Multiphysics modeling of mechatronic multibody systems

Fisette, Paul; Bruls, Olivier; Swevers, Jan

Request a copy

Paper published in a book (Scientific congresses and symposiums)

Multiphysics modeling of mechatronic multibody systems

Fisette, Paul; Bruls, Olivier; Swevers, Jan

2006 • In Proceedings of ISMA 2006

Permalink
https://hdl.handle.net/2268/61711

Files (1)Send to Details Statistics Bibliography Similar publications

Files

Full Text

D12_postEd_2006_FisetteBrulsSwevers_MultiphysicsModelingOfMechatronicMultibodySystems.pdf

Publisher postprint (1.51 MB)

Request a copy

All documents in ORBi are protected by a user license.

Send to

RIS BibTex APA Chicago Permalink X Linkedin

Details

Keywords :

Mechatronics; Modular modelling; Multibody systems

Abstract :

[en] Modeling mechatronic multibody systems requires the same type of methodology as for designing and prototyping mechatronic devices: a unified and integrated engineering approach. Various formulations are currently proposed to deal with multiphysics modeling, e.g. graph theories, equational approaches, co-simulation techniques. Recent works have pointed out their relative advantages and drawbacks, depending on the application to deal with: model size, model complexity, degree of coupling, frequency range, etc. This paper is the result of a close collaboration between three Belgian laboratories, and aims at showing that for "non-academic" mechatronic applications (i.e. issuing from real industrial issues), multibody dynamics formulations can be generalized to mechatronic applications, for the model generation as well as for the numerical analysis phases. Model portability being also an important aspect of the work, they must be easily interfaced with control design and optimization programs. A global "demonstrator", based on an industrial case, is discussed: multiphysics modeling, control design and mathematical optimization are carried out to illustrate the consistency and the efficiency of the proposed approaches.

Disciplines :

Mechanical engineering

Author, co-author :

Fisette, Paul; Université Catholique de Louvain - UCL > PRM

Bruls, Olivier ; Université de Liège - ULiège > Département d'aérospatiale et mécanique > Laboratoire des Systèmes Multicorps et Mécatroniques

Swevers, Jan; Katholieke Universiteit Leuven - KUL > Department of Mechanical Engineering (PMA)

Language :

English

Title :

Multiphysics modeling of mechatronic multibody systems

Publication date :

September 2006

Event name :

ISMA 2006

Event place :

Leuven, Belgium

By request :

Yes

Audience :

International

Main work title :

Proceedings of ISMA 2006

Commentary :

This contribution was presented as a keynote lecture.

Available on ORBi :

since 10 June 2010

Statistics

Number of views

112 (3 by ULiège)

Number of downloads

1 (0 by ULiège)

More statistics

Scopus citations^®

Scopus citations^®
without self-citations

Bibliography

C.W. Gear and D.R. Wells. Multirate linear multistep methods. BIT, 24:482-502, 1984.
M. Arnold. Numerically stable modular time integration of multiphysical systems. In K.J. Bathe, editor, Proceedings of the First MIT Conference on Computational Fluid and Solid Mechanics, pages 1062-1064, Cambridge, MA, June 2001. Elsevier, Amsterdam.
A. Rükgauer and W. Schiehlen. Simulation of modular dynamic systems. Computers and Structures, 46:535-542, 1998.
A. Veitl, T. Gordon, A. Van De Sand, M. Howell, M. Valásek, O. Vaculin, and P. Steinbauer. Methodologies for coupling simulation models and codes in mechatronic system analysis and design. Vehicle System Dynamics, 33:231-243, 1999.
M. Valásek, P. Breedveld, Z. Sika, and T. Vampola. Software tools for mechatronic vehicles: Design through modelling and simulation. Vehicle System Dynamics, 33:214-230, 1999.
R. Kübler and W. Schiehlen. Two methods of simulator coupling. Mathematical and Computer Modelling of Dynamical Systems, 6(2):93-113, 2000.
M. Da Silva, O. Brüls, B. Paijmans, W. Desmet, and H. Van Brussel. Concurrent simulation of mechatronic systems with variable mechanical configuration. In Proc. of ISMA 2006, Leuven, Belgium, September 2006.
H. Van Brussel. Mechatronics - a powerful concurrent engineering framework. IEEE/ASME Trans. Mechatronics, 1(2):127-136, 1996.
H. Elmqvist, S.E. Mattson, and M. Otter. Modelica - the new object-oriented modeling language. In Proc. of the 12th European Simulation Multiconference (ESM'98), June 1998.
M.M. Tiller. Introduction to Physical Modeling with Modelica. Kluwer Academic Publishers, 2001.
H. E. Koenig, Y. Tokad, H. K. Kesavan, and H. G. Hedges. Analysis of Discrete Physical Systems. McGraw-Hill Book Company, New York NY, 1967.
M. Otter and H. Elmqvist. Energy flow modeling of mechatronic systems via object diagrams. In Proc. of the 2nd Mathmod Vienna, IMACS Symposium on Mathematical Modelling, pages 705-710, 1997.
D. Karnopp, D.L. Margolis, and R.C. Rosenberg. System Dynamics: Modeling and Simulation of Mechatronic Systems. John Wiley & Sons Inc., 3rd edition, 2000.
D. Karnopp. Understanding multibody dynamics using bond graph representations. J. Franklin Inst., 334B(4):631-642, 1997.
W. Favre. Contribution 'a la Repŕesentation Bond Graph des Systémes Ḿecaniques Multicorps. PhD thesis, INSA de Lyon, 1997.
J.J. McPhee. On the use of linear graph theory in multibody system dynamics. Nonlinear Dynamics, 9:73-90, 1996.
J.J. McPhee. Automatic generation of motion equations for planar mechanical systems using the new set of"branch coordinates". Mech. Mach. Theory, 33(6):805-823, 1998.
J.J McPhee. Virtual prototyping of multibody systems with linear graph theory and symbolic computing. In W. Schiehlen and M. Vaĺasek, editors, Virtual Nonlinear Multibody Systems, volume 103 of NATO Science Series II: Mathematics, Physics and Chemistry, pages 37-56. Kluwer Academic Publishers, 2003.
M. Scherrer and J. McPhee. Dynamic modelling of electromechanical multibody systems. Multibody System Dynamics, 9:87-115, 2003.
L. Sass. Symbolic Modeling of Electromechanical Multibody Systems. PhD thesis, Universit́e Catholique de Louvain, 2004.
P. Fisette. Génération Symbolique des Equations du Mouvement de Syst'emes Multicorps et Application dans le Domaine Ferroviaire. PhD thesis, Universit́e Catholique de Louvain, 1994.
H. Paynter. Analysis and design of Engineering Systems. The MIT Press, Cambridge, MA, 1961.
L. Bonderson. Vector bond graphs applied to one-dimensional distributed systems. J. of Dynamic system, Measurement and Control, 75-82, 1975.
M.E. Ingrim and G. Y. Masada. The extended bond-graph notation. J. of Dynamic system, Measurement and Control, 113:113-117, 1991.
P. Shi and J. McPhee. Dynamics of flexible multibody systems using virtual work and linear graph theory. Multibody System Dynamics, 4:355-381, 2000.
P. Shi, J. McPhee, and G. Heppler. A deformation field for Euler-Bernoulli beams with applications to flexible multibody dynamics. Multibody System Dynamics, 5:79-104, 2001.
C. Schmitke and J. McPhee. Modelling mechatronic multibody systems using symbolic subsystems models. In Proc. of the ECCOMAS Conf. on Advances in Computational Multibody Systems, Lisbon, Portugal, July 2003.
V. Hadwitch and K. Pfeiffer. The principle of virtual work in mechanical and electromechanical systems. Arch. of Appl. Mech., 65:390-400, 1995.
P. Maisser, O. Enge, G. Freundenberg, and G. Kielau. Electromechanical interactions in multibody systems containing electromechanical drives. Multibody System Dynamics, 1(3):281-302, 1997.
V. Rochus, D. Rixen, and J.C. Golinval. Monolithic modelling of electromechanical coupling in microstructures. Int. J. Num. Meth. Eng., 65:461-493, 2005.
V. Rochus. Finite Element Modelling of Strong Electro-Mechanical Coupling in MEMS. PhD thesis, University of Liége, 2006.
J.C. Simo. A finite strain beam formulation. the three-dimensional dynamic problem. Part I. Comp. Meth. Appl. Mech. Eng., 49:55-70, 1985.
J.C. Simo and L. Vu-Quoc. A three-dimensional finite-strain rod model. Part II: Computational aspects. Comp. Meth. Appl. Mech. Eng., 58:79-116, 1986.
M. Géradin and A. Cardona. Flexible Multibody Dynamics: A Finite Element Approach. John Wiley & Sons, New York, 2001.
K.E. Brenan, S.L. Campbell, and L.R. Petzold. Numerical Solution of Initial-Value Problems in Differential-Algebraic Equations. SIAM, Philadelphia, 2nd edition, 1996.
E. Hairer and G. Wanner. Solving Ordinary Differential Equations II - Stiff and Differential-Algebraic Problems. Springer-Verlag, 2nd edition, 1996.
O. Brüls. Integrated Simulation and Reduced-Order Modeling of Controlled Flexible Multibody Systems. PhD thesis, University of Liége, Belgium, 2005.
J. Baumgarte. Stabilization of constraints and integrals of motion in dynamical systems. Comp. Meth. Appl. Mech. Eng., 1:1-16, 1972.
C.W. Gear, B. Leimkuhler, and G.K. Gupta. Automatic integration of Euler-Lagrange equations with constraints. J. Comp. and Appl. Math., 12 & 13:77-90, 1985.
C. Führer and B.J. Leimkuhler. Numerical solution of differential-algebraic equations for constrained mechanical motion. Numerische Mathematik, 59:55-69, 1991.
R.A. Wehage and E.J. Haug. Generalized coordinate partitioning for dimension reduction in analysis of constrained dynamic systems. ASME J. Mech. Des., 104:247-255, 1982.
J. Yen. Constrained equations of motion in multibody dynamics as odes on manifolds. SIAM J. Numer. Anal., 30:553-568, 1993.
L. Sass, J. McPhee, C. Schmitke, P. Fisette, and D. Grenier. A Comparison of Different Methods for Modelling Electromechanical Multibody Systems. Multibody System Dynamics, 12/3:209-250, 2004.
P. Fisette and J.C. Samin. Robotran symbolic generation of multibody system dynamic equations. In Advanced Multibody System Dynamics: Simulation and Software Tools, pages 373-378, Dordrecht, the Netherlands, 1993. Kluwer Academic Publishers.
A. Cardona, I. Klapka, and M. Géradin. Design of a New Finite Element Programming Environment. Engineering Computations, 11:365-381, 1994.
J.C. Samin, and P. Fisette. Symbolic Modeling of Multibody Systems. Dordrecht, the Netherlands, 2003. Kluwer Academic Publishers.
S. Duym and K. Reybrouck. Physical characterization of nonlinear shock absorber dynamics. European Journal Mech. Eng., 43(4):181-188, 1998.
C. Lauwerys, J. Swevers, and P. Sas. Model free design for a semi-active suspension of a passenger car. In Proc. of ISMA 2004, Leuven, Belgium, September 2004.
D. Hrováth, D.L. Margolis, and M. Hubbard. An approach toward the optimal semi-active suspension. ASME J. Dyn. Syst., Meas., and Control, 110(3):228-296, 1988.
D.C. Karnopp and M.J. Crosby. Vibration control using semi-active force generators.
J. Chung and G.M. Hulbert. A Time Integration Algorithm for Structural Dynamics with Improved Numerical Dissipation: The Generalized-Method. ASME J. Appl. Mech., 60:371-375, 1993.
O. Brüls, P. Duysinx, and J.-C. Golinval. A unified finite element framework for the dynamic analysis of controlled flexible mechanisms. In Proc. of the ECCOMAS Conf. on Advances in Computational Multibody Dynamics, Madrid, Spain, June 2005.
J.Y. Wong. Theory of Ground Vehicles. John Wiley & Sons, 3rd edition, 2001.
A.E. Baumal, J. J. McPhee, and P.H. Calamai. Application of genetic algorithms to the design optimization of an active suspension system. Comp. Meth. Appl. Mech. Eng., 163:87-94, 1998.
P.S. Els and P.E. Uys. Applicability of the dynamic-Q optimisation algorithm to vehicle suspension design. Mathematical and Computer Modelling, 37:1029-1046, 2003.
J.-F. Collard, P. Fisette, and P. Duysinx. Contribution to the optimization of closed-loop multibody systems: Application to parallel manipulators. Multibody System Dynamics, 13:69-84, 2005.
O. Brüls, P. Duysinx, and J. C. Golinval. The Global Modal Parameterization for nonlinear model-order reduction in flexible multibody dynamics. Int. J. Num. Meth. Eng., in press, 2006.
P. Fisette, J.M. Péterkenne, B. Vaneghem and J.C. Samin. A Multibody Loop Constraints approach for Modelling Cam/Follower Devices. Nonlinear Dynamics, 22:335-359, 2000.
D. Telteu, D. Grenier, P. Fisette, and F. Labrique. Modélisation et Simulatio n des Convertisseurs Electroniques de Puissance par Analogie avec les Systmes Mécaniques. Revue Internationale de Ǵenie Electrique (RIGE), 3-4:429-456, 2003.